Path Planning for UAVs Under GPS Permanent Faults
Path Planning for UAVs Under GPS Permanent Faults
复制标题
DOI：
10.1145/3653074
复制
发表时间：
2024-03
影响因子：
2.3
通讯作者：
M. Sulieman;Mengyu Liu;M. C. Gursoy;Fanxin Kong
中科院分区：
文献类型：
--
作者：
M. Sulieman;Mengyu Liu;M. C. Gursoy;Fanxin Kong
无人驾驶汽车（无人机）在不同的环境中有各种应用，例如，监视，包装包，紧急响应，物联网（IoT）中的数据收集以及蜂窝网络中的连通性，但是，这项技术会带来许多风险和挑战，例如在path panders of tht Paths avales avavs aver aver avers ave avers avers of uav avers of uav avers of uav in turne of uav。网络物理系统（CPS）的观点。协调在第一个阶段，我们在第二阶段开始检测到无人机的GPS传感器，我们在第二阶段开始了其初始路径计划。证明算法的性能及其有效性，从而为无人机提供了有效的路径计划。
Unmanned aerial vehicles (UAVs) have various applications in different settings, including e.g., surveillance, packet delivery, emergency response, data collection in the Internet of Things (IoT), and connectivity in cellular networks. However, this technology comes with many risks and challenges such as vulnerabilities to malicious cyber-physical attacks. This paper studies the problem of path planning for UAVs under GPS sensor permanent faults in a cyber-physical system (CPS) perspective. Based on studying and analyzing the CPS architecture of the UAV, the cyber “attacks and threats” are differentiated from attacks on sensors and communication components. An efficient way to address this problem is to introduce a novel approach for UAV’s path planning resilience to GPS permanent faults artificial potential field algorithm (RCA-APF). The proposed algorithm completes the three stages in a coordinated manner. In the first stage, the permanent faults on the GPS sensor of the UAV are detected, and the UAV starts to divert from its initial path planning. In the second stage, we estimated the location of the UAV under GPS permanent fault using Received Signal Strength (RSS) trilateration localization approach. In the final stage of the algorithm, we implemented the path planning of the UAV using an open-source UAV simulator. Experimental and simulation results demonstrate the performance of the algorithm and its effectiveness, resulting in efficient path planning for the UAV.