Multi-Target Motion Planning Amidst Obstacles for Autonomous Aerial and Ground Vehicles

Gottlieb, Yoav; Manathara, Joel George; Shima, Tal

doi:10.1007/s10846-017-0684-5

Cited by 10 publications

(11 citation statements)

References 40 publications

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“…Based on research works [14,19,26], in which path planning problems with a turning radius motion constraint are addressed, it can be stated that the Dubins path approach for the AGVs, often referred to as the Dubins vehicle, is one of the most effective, widely used and modified classic methods for the optimal path planning. When applying this method in the general case, finding the optimal path involves checking for 6 possibilities, which consist of concave or convex circle segments and / or straight line segments.…”

Section: Vector Based Dubins Path Approachmentioning

confidence: 99%

Modification and reliability estimation of vector based Dubins path approach for autonomous ground vehicles path re-planning

Skačkauskas¹,

Sokolovskij²

2018

Eksploatacja i Niezawodność – Maintenance and Reliability

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Modification and reliability estiMation of vector based dubins path approach for autonoMous ground vehicles path re-planning poprawa i ocena niezawodności opartej na wektorowej Metodzie trajektorii dubinsa dla korekty trajektorii pojazdów autonoMicznych Due to global purposes to ensure growth of a competitive and sustainable transport system, also to solve traffic safety and environmental problems, various engineering solutions are being sought out. It can be assumed that autonomous vehicles are the technology, which will ensure the positive change in the transport system. Even though many studies successfully advanced toward realisation of autonomous vehicles, a significant amount of technical and policy framework problems still has to be solved. This paper addresses the problem of predefined path feasibility and proposes an effective methodology for a path to follow re-planning. The proposed methodology is composed of three parts and is based on the Dubins path approach. In order to modify the vector based Dubins path approach and to ensure the path feasibility, the optimisation problem was solved. A cost function with different inequality constraints was formulated. The performance and reliability of the proposed methodology were analysed and evaluated by carrying out an experimental research while using the autonomous test vehicle.

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Section: Vector Based Dubins Path Approachmentioning

confidence: 99%

Modification and reliability estimation of vector based Dubins path approach for autonomous ground vehicles path re-planning

Skačkauskas¹,

Sokolovskij²

2018

Eksploatacja i Niezawodność – Maintenance and Reliability

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“…The motion planning problem description and solution presented below is based on the study described in [ 12 ]. Since the targets’ timing constraints are not included in [ 12 ], a path elongation algorithm is proposed in Subsection 3.2 .…”

Section: Motion Planningmentioning

confidence: 99%

“…The task assignment algorithm uses a motion planning subroutine, which is based on the study described in [ 12 ]. The motion planning subroutine includes two types of algorithms.…”

Section: A Heuristic Motion Planning Algorithmmentioning

confidence: 99%

“…Extending the Dubins model with altitude control, time optimal paths between initial and final configurations are provided in [ 7 ]. Considering obstacles, motion planning algorithms for the Dubins vehicle are provided in [ 8 , 9 , 10 , 11 , 12 ]. In [ 13 ], a collision-free 3D motion planning algorithm is provided for an aerial vehicle.…”

Section: Introductionmentioning

confidence: 99%

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UAVs Task and Motion Planning in the Presence of Obstacles and Prioritized Targets

Gottlieb

Shima

2015

Sensors

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The intertwined task assignment and motion planning problem of assigning a team of fixed-winged unmanned aerial vehicles to a set of prioritized targets in an environment with obstacles is addressed. It is assumed that the targets’ locations and initial priorities are determined using a network of unattended ground sensors used to detect potential threats at restricted zones. The targets are characterized by a time-varying level of importance, and timing constraints must be fulfilled before a vehicle is allowed to visit a specific target. It is assumed that the vehicles are carrying body-fixed sensors and, thus, are required to approach a designated target while flying straight and level. The fixed-winged aerial vehicles are modeled as Dubins vehicles, i.e., having a constant speed and a minimum turning radius constraint. The investigated integrated problem of task assignment and motion planning is posed in the form of a decision tree, and two search algorithms are proposed: an exhaustive algorithm that improves over run time and provides the minimum cost solution, encoded in the tree, and a greedy algorithm that provides a quick feasible solution. To satisfy the target’s visitation timing constraint, a path elongation motion planning algorithm amidst obstacles is provided. Using simulations, the performance of the algorithms is compared, evaluated and exemplified.

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“…In another attitude, the UAV path is investigated in a space with obstacles and without the presence of the wind. Y. Gottlieb et al found a motion planning for Dubins and Reed-Shepp vehicles in the presence of the polygonal obstacle using a genetic algorithm [18]. J. Baker et al used the polynomial-time approximation approach to solve this problem, [2].…”

mentioning

confidence: 99%

Time-optimal of fixed wing UAV aircraft with input and output constraints

Shavakh¹,

Bidabad²

2022

NACO

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<p style='text-indent:20px;'>The route prediction of unmanned aerial vehicles (UAVs) according to their missions is a strategic issue in the aviation field. In some particular missions, the UAV tasks are to start a movement from a defined point to a target reign in the shortest time. This paper proposes a practical method to find the guidance law of the fixed-wing UAV to achieve time-optimal considering the ambient wind. The unique features of this paper are that the environment includes the moving and fixed obstacles as the route constraints, and the fixed-wing UAVs have to keep a given distance from these obstacles. Also, we consider the specific kinematic equation of the fixed-wing UAV and limitations on the flight-path angle and bank-angles as other constraints. We suggest a method for controlling a fixed-wing UAV to get time-optimal using the re-scaling and parameterization techniques. These techniques are useful and effective in maximizing the performance of the gradient-based methods as a sequential quadratic programming method (<inline-formula><tex-math id="M1">\begin{document}$ SQP $\end{document}</tex-math></inline-formula>) for numerical solutions. Then, all constraints of the time-optimal control problem are converted to a constraint using an exact penalty function. Due to being exact, finding the control variables and switching times is more accurate and faster. Finally, some numerical examples are simulated to explore the effectiveness of our proposed study in reality.</p>

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Multi-Target Motion Planning Amidst Obstacles for Autonomous Aerial and Ground Vehicles

Cited by 10 publications

References 40 publications

Modification and reliability estimation of vector based Dubins path approach for autonomous ground vehicles path re-planning

Modification and reliability estimation of vector based Dubins path approach for autonomous ground vehicles path re-planning

UAVs Task and Motion Planning in the Presence of Obstacles and Prioritized Targets

Time-optimal of fixed wing UAV aircraft with input and output constraints

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