Navigation-aware Path Planning for Multiple UAVs in Urban Environment

Causa, Flavia; Fasano, Giancarmine

doi:10.1109/dasc50938.2020.9256724

Cited by 4 publications

(2 citation statements)

References 20 publications

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“…Therefore, the efficiency of logistics distribution has begun to attract attention [1,2]. UAVs, known for their high speed, strong maneuverability, and wide delivery range [3][4][5], have been applied in the delivery of medical supplies, mail, food, and more, becoming one of the tools for urban logistics distribution [6]. Logistics UAVs have been supported and practiced globally [7].…”

Section: Introducementioning

confidence: 99%

A Real-Time Path Planning Method for Urban Low-Altitude Logistics UAVs

Deng,

Yang,

Peng

2023

Sensors

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To solve the problem of poor real-time performance in path planning algorithms for unmanned aerial vehicles (UAVs) in low-altitude urban logistics, a path planning method combining modified Beetle Antennae Search (BAS) with the Simulated Annealing (SA) algorithm is proposed. Firstly, based on the requirements of task execution and constraints of UAV flight, a fitness function for real-time search of waypoints is designed while ensuring the safety and obstacle avoidance of the UAV. Then, to improve the search accuracy and real-time performance, determining the initial search direction in the BAS algorithm is improved, while the search step size and antennae sensing length are updated in real-time according to the distance between the UAV and the obstacle. Finally, the SA algorithm is combined with the BAS algorithm to update the waypoints, expanding the search range of each waypoint, avoiding the process of updating the waypoints from becoming trapped in the local optimal waypoints. Meanwhile, the effectiveness of the next waypoint is evaluated based on the Metropolis criterion. This paper generates a virtual urban logistics distribution environment based on the density and distribution of urban buildings, and compares the performance of algorithms in obstacle-sparse, obstacle-moderate, and obstacle-dense environments. The simulation results demonstrate that the improved method in this paper has a more significant capacity for environmental adaptation. In terms of the path length, waypoints, safety obstacle avoidance, and smoothness, the planned path outperforms the original BAS method. It satisfies the needs of real-time path planning for UAVs involved in urban low-altitude logistics.

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Section: Introducementioning

confidence: 99%

A Real-Time Path Planning Method for Urban Low-Altitude Logistics UAVs

Deng,

Yang,

Peng

2023

Sensors

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“…UAM development is facing many problems, such as air traffic rules [8], noise [9], safety standards [10], and technical problems in the communication and navigation of UAVs [11]. Many of them have been addressed [12], but research on vertiport capacity and surface topology have been paid little attention.…”

Section: Introductionmentioning

confidence: 99%

Capacity Assessment and Analysis of Vertiports Based on Simulation

Zhang,

Li,

Fei

et al. 2023

Sustainability

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City air traffic as a new transportation mode has gradually attracted attention in recent years which will bring endless vitality to future urban development. An objective and accurate assessment of the vertiport capacity for UAVs (Unmanned Aerial Vehicles) is the basis for implementing air traffic flow management for UAVs, which is also a prerequisite for improving the efficiency of urban airspace resources used. Firstly, new topology designs are proposed and named as connected and compact topology designs based on the existing central airport topology design. Subsequently, three modes of operation are summarized for vertiports with multiple TLOF pads: independent operation, dependent operation, and segregated operation. In the next place, the overall traffic flow of the vertiport model is established based on AnyLogic while analyzing the logic of UAV operation in three modes as mentioned above. Eventually, according to the simulation results, the vertiport operation capacity, the UAVs delay, and surface area utilization under different operation modes and topology designs are analyzed. The simulation result shows that the overall average delay time of UAVs for independent operation mode is about 100 s less than that of segregated operation and it also shows that the utilization rate of independent operation mode under central design is as high as 54.42% while the utilization rate of TLOF pads of other design is less than 50%, and its vertiport capacity is the largest, so the independent operational mode under central configuration is the optimal combination.

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UAV path planning techniques: a survey

Ghambari,

Golabi,

Jourdan

et al. 2024

RAIRO-Oper. Res.

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Unmanned Aerial Vehicles (UAVs) are ideally suited for many real-world applications ranging from scientific to commercial, industrial, and military fields. Enhancing the efficiency of UAV-based missions through optimization techniques is of paramount significance. Unmanned Aerial Vehicles (UAVs) are ideally suited for many real-world applications ranging from scientific to commercial, industrial, and military fields. Enhancing the efficiency of UAV-based missions through optimization techniques is of paramount significance. In this regard, the path planning problem that refers to finding the best collision-free path between the start point and the destination by addressing temporal, physical, and geometric constraints is a key issue. In this paper, a review of recent path planning methods from different perspectives with a clear and comprehensive categorization is presented. This study provides a general taxonomy categorizing the existing works into classical approaches, soft-computing techniques, and hybrid methods. Here, a detailed analysis of the recent techniques as well as their advantages and limitations is offered. Additionally, it provides an overview of environment modeling methods, path structures, optimality criteria, completeness criteria, and current UAV simulators.

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Navigation-aware Path Planning for Multiple UAVs in Urban Environment

Cited by 4 publications

References 20 publications

A Real-Time Path Planning Method for Urban Low-Altitude Logistics UAVs

A Real-Time Path Planning Method for Urban Low-Altitude Logistics UAVs

Capacity Assessment and Analysis of Vertiports Based on Simulation

UAV path planning techniques: a survey

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