Energy-aware path planning of an unmanned aerial vehicle acting as a communication relay for mobile ground nodes

Choi, Dae Hyung; Jung, Byoung Hoon; Sung, Dan Keun

doi:10.1177/0954410017748685

Cited by 3 publications

(3 citation statements)

References 21 publications

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“…As one of the key technologies in the development of UAVs, the quality of the path planning results will intuitively affect the real-time performance of the unmanned Aerial Vehicle (UAV) and the quality of the results. 1 Research on path planning started in the 1970s and is still being studied by major Research and Development countries with remarkable results.…”

Section: Introductionmentioning

confidence: 99%

“…Probabilistic Roadmaps (PRM) and Rapidly exploring Random Trees (RRT) are the most popular algorithms. 1…”

Section: Introductionmentioning

confidence: 99%

“…Probabilistic Roadmaps (PRM) and Rapidly exploring Random Trees (RRT) are the most popular algorithms. 1 Unmanned Aerial Vehicle path planning algorithms constructed by ant colony algorithms 2 are effective when there are few obstacles. However, due to the lack of a certain pheromone concentration guiding the initial stages of the ant colony algorithm and the fact that the path transfer is randomly generated and some of the paths are redundant or even degenerate, 3,4 the ant colony algorithm is very prone to fall into local optima and the stability of the solution is poor.…”

Section: Introductionmentioning

confidence: 99%

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Rotate artificial potential field algorithm toward 3D real-time path planning for unmanned aerial vehicle

Dong

Mei

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part G:

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As one of the key technologies in the development of Unmanned Aerial Vehicle (UAV), the path planning method has an intuitive impact on the real-time performance of UAV. Most existing path planning algorithms have drawbacks in global optimization ability or optimization speed, and cannot meet the requirements of practical applications. To improve the effectiveness and practicability of the path planning algorithm for UAV obstacle avoidance, this paper proposes the Rotate Artificial Potential Field (R-APF) method based on the traditional artificial potential field method. By introducing a new potential field function and stimulating rotating repulsive force, the R-APF solves the problems of local minimum as well as inaccessibility to targets near obstacles, respectively. Convergence of the algorithm is discussed to demonstrate the feasibility of R-APF. This paper also designs and implements algorithm feasibility verification experiments, obstacle shuttle experiments, as well as running time, and efficiency comparison experiments. In addition, the improved Visual-Inertial Navigation System obstacle detection algorithm is introduced to carry out physical verification experiments. Theoretical proof and experimental results show the proposed R-APF method has higher obstacle avoidance capability, shorter running time, and higher success rate compared to other algorithms, and is promising in practical application.

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Section: Introductionmentioning

confidence: 99%

“…Probabilistic Roadmaps (PRM) and Rapidly exploring Random Trees (RRT) are the most popular algorithms. 1…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Rotate artificial potential field algorithm toward 3D real-time path planning for unmanned aerial vehicle

Dong

Mei

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part G:

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A Review of Recent Advances in Coordination Between Unmanned Aerial and Ground Vehicles

2021

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Coordination between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has received increasing attention in recent years. The list of successful applications of UAV–UGV coordination systems is growing and demonstrates that UAV–UGV coordination can provide real-world solutions that other types of coordination cannot offer. This paper systematically reviews the advances in UAV–UGV coordination systems during the period of 2015–2020 and offers a comprehensive investigation and analysis of the recent research. First, the essential elements in the UAV–UGV coordination systems are analyzed, and four key functional roles are identified. The close collaboration among functional roles can achieve the UAV–UGV coordination on perception, task, and motion. From the perspective of functional roles, UAV–UGV coordination systems can be further classified into eight categories. The functional-role-based category provides novel insights into analyzing various patterns of UAV–UGV coordination. This paper also discusses the challenges related to UAV–UGV coordination.

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Parametric and Implicit Features-Based UAV–UGVs Time-Varying Formation Tracking: Dynamic Approach

2021

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Flexible and robust Time-Varying Formation (TVF) tracking of Unmanned Ground Vehicles (UGVs) guided by an Unmanned Aerial Vehicle (UAV) is considered in this paper. The UAV–UGVs system control model is based on leader-follower approach, where the control scheme consists of two consecutive tasks, namely, deployment task and TVF tracking. Accordingly, two novel nonlinear controllers are proposed for controlling the UGVs formation. First, unlike the classical frameworks on UGVs formation tracking, for which only particular shapes are handled (e.g. circle, square, ellipse), we propose a UGVs deployment-controller ensuring to reach free-formation shapes. The key feature is in using the estimated implicit representation of the desired formation shape as a potential function to generate the UGVs reference trajectory. Second, in the TVF tracking task, a robust cascaded velocity/torque controller for UGVs is proposed based on kinematic and dynamic models. Differently from the classical backstepping framework, the key idea is in introducing an auxiliary control input, in such a way that the overall UGV dynamics is converted into a simpler and modular control structure. As such, the auxiliary input is used to control indirectly the actual UGVs velocity vector. A signum term is added to the torque-input to compensate for the unknown external disturbances and unmodeled dynamics. Numerical simulation shows the effectiveness of the proposed formation controllers compared with the case when the perfect velocity-tracking assumption holds. Experimental results are further provided using three festos Robtino robots to show the validity of the proposed TVF tracking velocity-control scheme.

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Energy-aware path planning of an unmanned aerial vehicle acting as a communication relay for mobile ground nodes

Cited by 3 publications

References 21 publications

Rotate artificial potential field algorithm toward 3D real-time path planning for unmanned aerial vehicle

Rotate artificial potential field algorithm toward 3D real-time path planning for unmanned aerial vehicle

A Review of Recent Advances in Coordination Between Unmanned Aerial and Ground Vehicles

Parametric and Implicit Features-Based UAV–UGVs Time-Varying Formation Tracking: Dynamic Approach

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