Harpia: A hybrid system for agricultural UAV missions

Vannini, Veronica; Souza, Gustavo de Moura; Toledo, Cláudio Fabiano Motta

doi:10.1016/j.atech.2023.100191

Cited by 2 publications

(2 citation statements)

References 24 publications

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“…A GA algorithm was then applied to further optimize the path generated by the other two algorithms. Veronica et al employed a hybrid approach to tackle multiple objectives, which they achieved by including PDDL for task planning, Bayesian Networks (BN) for feasibility evaluation, and the K-Nearest Neighbors (KNN) algorithm for path planning and obstacle avoidance selection [41].…”

Section: Related Workmentioning

confidence: 99%

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A Hybrid Global/Reactive Algorithm for Collision-Free UAV Navigation in 3D Environments with Steady and Moving Obstacles

Verma,

Li,

Savkin

2023

Drones

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This paper introduces a practical navigation approach for nonholonomic Unmanned Aerial Vehicles (UAVs) in 3D environment settings with numerous stationary and dynamic obstacles. To achieve the intended outcome, Dynamic Programming (DP) is combined with a reactive control algorithm. The DP allows the UAVs to navigate among known static barriers and obstacles. Additionally, the reactive controller uses data from the onboard sensor to avoid unforeseen obstacles. The proposed strategy is illustrated through computer simulation results. In simulations, the UAV successfully navigates around dynamic obstacles while maintaining its route to the target. These results highlight the ability of our proposed approach to ensure safe and efficient UAV navigation in complex and obstacle-laden environments.

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Section: Related Workmentioning

confidence: 99%

“…In this paper, the Dynamic Programming algorithm (see 252 e.g. [40,41]) is utilised to achieve the objective. Dynamic programming leverage the 253 Principle of Optimality to efficiently find optimal solutions.…”

mentioning

confidence: 99%