scholarly journals Trajectory Planning for Communication Relay Unmanned Aerial Vehicles in Urban Dynamic Environments

2017 ◽  
Vol 89 (1-2) ◽  
pp. 7-25 ◽  
Author(s):  
Pawel Ladosz ◽  
Hyondong Oh ◽  
Wen-Hua Chen
Author(s):  
Jun Tang ◽  
Jiayi Sun ◽  
Cong Lu ◽  
Songyang Lao

Multi-unmanned aerial vehicle trajectory planning is one of the most complex global optimum problems in multi-unmanned aerial vehicle coordinated control. Results of recent research works on trajectory planning reveal persisting theoretical and practical problems. To mitigate them, this paper proposes a novel optimized artificial potential field algorithm for multi-unmanned aerial vehicle operations in a three-dimensional dynamic space. For all purposes, this study considers the unmanned aerial vehicles and obstacles as spheres and cylinders with negative electricity, respectively, while the targets are considered spheres with positive electricity. However, the conventional artificial potential field algorithm is restricted to a single unmanned aerial vehicle trajectory planning in two-dimensional space and usually fails to ensure collision avoidance. To deal with this challenge, we propose a method with a distance factor and jump strategy to resolve common problems such as unreachable targets and ensure that the unmanned aerial vehicle does not collide into the obstacles. The method takes companion unmanned aerial vehicles as the dynamic obstacles to realize collaborative trajectory planning. Besides, the method solves jitter problems using the dynamic step adjustment method and climb strategy. It is validated in quantitative test simulation models and reasonable results are generated for a three-dimensional simulated urban environment.


Author(s):  
Yuhang Jiang ◽  
Shiqiang Hu ◽  
Christopher J Damaren

Flight collision between unmanned aerial vehicles (UAVs) in mid-air poses a potential risk to flight safety in low-altitude airspace. This article transforms the problem of collision avoidance between quadrotor UAVs into a trajectory-planning problem using optimal control algorithms, therefore achieving both robustness and efficiency. Specifically, the pseudospectral method is introduced to solve the raised optimal control problem, while the generated optimal trajectory is precisely followed by a feedback controller. It is worth noting that the contributions of this article also include the introduction of the normalized relative coordinate, so that UAVs can obtain collision-free trajectories more conveniently in real time. The collision-free trajectories for a classical scenario of collision avoidance between two UAVs are given in the simulation part by both solving the optimal control problem and querying the prior results. The scalability of the proposed method is also verified in the simulation part by solving a collision avoidance problem among multiple UAVs.


2016 ◽  
Vol 66 (6) ◽  
pp. 651 ◽  
Author(s):  
Halil Cicibas ◽  
Kadir Alpaslan Demir ◽  
Nafiz Arica

<p>This research compares 3D versus 4D (three spatial dimensions and the time dimension) multi-objective and multi-criteria path-planning for unmanned aerial vehicles in complex dynamic environments. In this study, we empirically analyse the performances of 3D and 4D path planning approaches. Using the empirical data, we show that the 4D approach is superior over the 3D approach especially in complex dynamic environments. The research model consisting of flight objectives and criteria is developed based on interviews with an experienced military UAV pilot and mission planner to establish realism and relevancy in unmanned aerial vehicle flight planning. Furthermore, this study incorporates one of the most comprehensive set of criteria identified during our literature search. The simulation results clearly show that the 4D path planning approach is able to provide solutions in complex dynamic environments in which the 3D approach could not find a solution.</p>


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