Multidepot Drone Path Planning With Collision Avoidance
Multidepot Drone Path Planning With Collision Avoidance
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DOI：
10.1109/jiot.2022.3151791
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发表时间：
2022-09
影响因子：
10.6
通讯作者：
Kun Shen;Rutuja Shivgan;Jorge Medina;Z. Dong;R. Rojas-Cessa
中科院分区：
文献类型：
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作者：
Kun Shen;Rutuja Shivgan;Jorge Medina;Z. Dong;R. Rojas-Cessa
在多架无人机任务中，飞行路线的交叉表明无人机在飞行中相撞的可能性很高。在路径规划期间，这种可能性可以被主动地最小化。本文提出了两种离线防碰撞多无人机路径规划算法：1)DETACH算法和2)Steer算法。大型无人机任务可以划分为较小的任务，由多架无人机执行。每架无人机都遵循一条计划好的飞行路线，该路线经过优化，可以有效地执行任务。然后，可以优化这组无人机的路径规划，以在较短的时间内完成任务，能耗最小，或具有最大的航点覆盖。在这里，我们将重点放在最大化航点覆盖上。与现有方案不同的是，我们提出的离线路径规划算法可以检测并消除可能的飞行中碰撞。它们基于一种受约束的最近邻搜索算法，旨在覆盖每条飞行路线的大量路点。DETACH和STEER为飞行路径分析执行矢量交叉点检查，但各自处于不同的路径规划阶段。我们通过一种新的盈利模型来评估所提出的算法的路点覆盖率，并比较它们在不同路点密度的工作区域上的性能。我们的结果表明，在高密度的路点场景中，Steer覆盖的路点比DETACH多40%，产生的利润多20%。
Intersections of flight paths in multidrone missions are indications of a high likelihood of in-flight drone collisions. This likelihood can be proactively minimized during path planning. This article proposes two offline collision-avoidance multidrone path-planning algorithms: 1) DETACH and 2) STEER. Large drone tasks can be divided into smaller ones and carried out by multiple drones. Each drone follows a planned flight path that is optimized to efficiently perform the task. The path planning of the set of drones can then be optimized to complete the task in a short time, with minimum energy expenditure, or with maximum waypoint coverage. Here, we focus on maximizing waypoint coverage. Different from existing schemes, our proposed offline path-planning algorithms detect and remove possible in-flight collisions. They are based on a constrained nearest-neighbor search algorithm that aims to cover a large number of waypoints per flight path. DETACH and STEER perform vector intersection check for flight path analysis, but each at different stages of path planning. We evaluate the waypoint coverage of the proposed algorithms through a novel profit model and compare their performance on a work area with different waypoint densities. Our results show that STEER covers 40% more waypoints and generates 20% more profit than DETACH in high-density waypoint scenarios.