Fixed-Wing UAV Path Planning in a Dynamic Environment via Dynamic RRT Algorithm

Lü, Liang; Zong, Chengxing; Lei, Xinyu; Chen, Bo Zhi; Zhao, Ping

doi:10.1007/978-981-10-2875-5_23

Cited by 17 publications

(7 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Path planning for autonomous UAVs is an important research topic [38][39][40][41], with approaches based on genetic algorithms [23], neural networks [42], and heuristics, such as the TangentBug [43], as well as, techniques based on obstacle avoidance [37,41,[44][45][46]. One of the most common approaches in UAV applications is the Rapidly-Exploring Random Tree (RRT) [47], adopted in this work.…”

Section: Path Planningmentioning

confidence: 99%

Safe path prioritization for multi-unit visiting missions performed by UAVs

Borges,

Ghedini,

Ribeiro

2024

Preprint

View full text Add to dashboard Cite

Autonomous Unmanned Aerial Vehicles (UAVs) present a promising avenue for humanitarian missions, particularly in addressing urgent global public health concerns. Their versatility allows for the efficient transportation of lightweight payloads, including vital medical tests, blood products, vaccines, and medications , to remote, inaccessible, or perilous regions. In a military context, UAVs serve various critical functions such as surveillance, reconnaissance and logisti-cal support. The focus of this work is on Combat Service Support (CSS), a type of logistical support mission where UAVs provide supplies to ground forces personnel (GFs) engaged in combat or reconnaissance missions under threat. One challenge in CSS missions is the need for dynamic route planning, as threats can be discovered during the mission. Considering this, we propose a model named Safe Path Prioritization, which adopts as premise that the best way to avoid threat action is to prioritize regions where other UAVs have already flown and did not detect the presence of enemies. In addition, closer ground forces should have visitation priority, as the longer a UAV flies, the greater its chance of being neutralized. The proposed model is combined with a communication approach between UAVs and Ground Control Station (GCS) to increase the stealthiness of UAVs. We validated our proposal in diverse scenarios with different combinations of ground forces, number of UAVs and threat hostility level.Overall, the results show that the combination of safe path prioritization with a traditional minimum path approach can bring benefits regarding both the number of GFs visited and the number of UAVs kept unharmed in CSS scenarios.

show abstract

Section: Path Planningmentioning

confidence: 99%

Safe path prioritization for multi-unit visiting missions performed by UAVs

Borges,

Ghedini,

Ribeiro

2024

Preprint

View full text Add to dashboard Cite

show abstract

“…Lu et al 30 proposed a dynamic RRT algorithm applied to fixed-wing UAVs path planning in dynamic 3D environment. Da Silva Arantes et al 31 applied genetic algorithms to the path planning problem for UAVs during emergency landing.…”

Section: Literature Reviewmentioning

confidence: 99%

Improvement in the model of cooperative aerial reconnaissance used in the tactical decision support system

Stodola

2017

Journal of Defense Modeling & Simulation

View full text Add to dashboard Cite

This paper deals with the model of cooperative aerial reconnaissance. The goal of this high-level model is to explore the area of interest by a fleet of unmanned aerial systems optimally, which is (mostly) as fast as possible. The model has been implemented into the tactical decision support system to support commanders of the army of the Czech Republic in their decision making. The current paper does not present the model itself, but it enhances the original model by inserting a new parameter which is called angle delay coefficient. In the first part of the paper, the impact of the new parameter on the task of aerial reconnaissance is discussed. A series of experiments were proposed and conducted to verify the influence of the coefficient. The second part of the paper further improves the model by smoothing the routes of individual aerial systems; a new set of parameters are introduced.

show abstract

“…For collision avoidance in the literature, obstacles were simplified as spheres or bounding boxes in [30][31][32][33]. However, simplifying an object shape is not desirable, especially in the case where an object has arbitrary shapes.…”

Section: Introductionmentioning

confidence: 99%

Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More Elevators

Kim

2023

Applied Sciences

View full text Add to dashboard Cite

For planning a robot’s path inside a large building with one or more elevators, we develop a topological map, called the building Voronoi graph. Using the building Voronoi graph, the robot finds the shortest path to the goal and follows the path. In the case where the robot detects an object with arbitrary shapes (e.g., human) while following the path, the robot avoids the object utilizing reactive control laws. The proposed reactive collision-avoidance control is unique in considering collision avoidance with map environments as well as (moving or static) objects having arbitrary shapes. As far as we know, our paper is novel in addressing how to make the robot follow the building Voronoi graph, while avoiding collision with map environments as well as objects with arbitrary shapes.

show abstract

Fixed-Wing UAV Path Planning in a Dynamic Environment via Dynamic RRT Algorithm

Cited by 17 publications

References 14 publications

Safe path prioritization for multi-unit visiting missions performed by UAVs

Safe path prioritization for multi-unit visiting missions performed by UAVs

Improvement in the model of cooperative aerial reconnaissance used in the tactical decision support system

Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More Elevators

Contact Info

Product

Resources

About