FBCRI Based Real-time Path Planning for Unmanned Aerial Vehicles in Unknown Environments with Uncertainty

ROBOT ◽  
2013 ◽  
Vol 35 (6) ◽  
pp. 641 ◽  
Author(s):  
Wei LIU ◽  
Peng HAO ◽  
Zheng ZHENG ◽  
Kaiyuan CAI
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Real Time ◽  
Time Path ◽  
Aerial Vehicles ◽  
Unknown Environments

scholarly journals Distributed Detect-and-Avoid for Multiple Unmanned Aerial Vehicles in National Air Space

2019 ◽  
Vol 141 (7) ◽  
Author(s):  
Mohammad Sarim ◽  
Mohammadreza Radmanesh ◽  
Matthew Dechering ◽  
Manish Kumar ◽  
Ravikumar Pragada ◽  
...  
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Real Time ◽  
Precision Agriculture ◽  
Traffic Management ◽  
Mixed Integer ◽  
Dynamic Constraints ◽  
Aerial Vehicles ◽  
Package Delivery ◽  
Feasible Solutions

Small unmanned aerial vehicles (UAVs) have the potential to revolutionize various applications in civilian domain such as disaster management, search and rescue operations, law enforcement, precision agriculture, and package delivery. As the number of such UAVs rise, a robust and reliable traffic management is needed for their integration in national airspace system (NAS) to enable real-time, reliable, and safe operation. Management of UAVs traffic in NAS becomes quite challenging due to issues such as real-time path planning of large number of UAVs, communication delays, operational uncertainties, failures, and noncooperating agents. In this work, we present a novel UAV traffic management (UTM) architecture that enables the integration of such UAVs in NAS. A combined A*–mixed integer linear programming (MILP)-based solution is presented for initial path planning of multiple UAVs with individual mission requirements and dynamic constraints. We also present a distributed detect-and-avoid (DAA) algorithm based on the concept of resource allocation using a market-based approach. The results demonstrate the scalability, optimality, and ability of the proposed approach to provide feasible solutions that are versatile in dynamic environments.

KNOWLEDGE EXTRACTION AND ACQUISITION DURING REAL-TIME NAVIGATION IN UNKNOWN ENVIRONMENTS

1995 ◽  
Vol 09 (01) ◽  
pp. 83-99 ◽  
Author(s):  
NIKOLAOS G. BOURBAKIS
Keyword(s):  
Path Planning ◽  
Knowledge Representation ◽  
Real Time ◽  
Planning Process ◽  
Knowledge Extraction ◽  
Time Path ◽  
Unknown Environments ◽  
Attributed Graphs

This paper deals with the representation and acquisition of knowledge extracted during a real-time path planning process in an unknown space. In particular, the extracted knowledge from each current free navigation space is represented by attributed graphs. The graph knowledge representation forms are “processed and combined” appropriately by generating a scheme which acquires the extracted knowledge during the navigation. Illustrated examples are provided for simple navigation cases.

scholarly journals Real-Time Path Planning in Unknown Environments for Bipedal Robots

2017 ◽  
Vol 2 (4) ◽  
pp. 1856-1863 ◽  
Author(s):  
Arne-Christoph Hildebrandt ◽  
Moritz Klischat ◽  
Daniel Wahrmann ◽  
Robert Wittmann ◽  
Felix Sygulla ◽  
...  
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Bipedal Robots ◽  
Time Path ◽  
Unknown Environments

scholarly journals REAL-TIME PATH PLANNING IN UNKNOWN ENVIRONMENTS USING A VIRTUAL HILL

2005 ◽  
Vol 38 (1) ◽  
pp. 61-66 ◽  
Author(s):  
Min Gyu Park ◽  
Min Cheol Lee ◽  
Kwon Son
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Time Path ◽  
Unknown Environments
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