Safe and Optimal Path Planning for Autonomous UAV Using a Decomposition-Coordination Method

Nizar, Imane; Illoussamen, Youssef; Illoussamen, El Hossein; Mestari, Mohammed

doi:10.1007/978-3-030-45183-7_21

Cited by 1 publication

(2 citation statements)

References 13 publications

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“…-Imane Nizar: [12] and [15] -Adil Jaafar: no contributions in relation with this submission -Zineb Hidila: no contributions in relation with this submission -Mohamed Barki: no contributions in relation with this submission -El Hossein Illoussamen: [12] and [15] -Mohammed Mestari : [12], [14], [15] and [18] Funding No funding was received for this work.…”

Section: Author Contributions the Contributions In Relation With This Submissionmentioning

confidence: 99%

“…The UAV navigates in accordance with the GCU instructions, and computes sub-trajectories from the current position to the next intermediate goal each time an obstacle is detected on the road until the destination is reached efficiently. This paper is an extended version of a previous conference paper [15]. It aims to describe, in a more thorough way, the DC algorithm and the global approach employed in this work.…”

Section: Introductionmentioning

confidence: 99%

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Effective and Safe Trajectory Planning for an Autonomous UAV Using a Decomposition-Coordination Method

Nizar

Jaafar

Hidila

et al. 2021

J Intell Robot Syst

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In this paper, we present a Decomposition Coordination (DC) method applied to solve the problem of safe trajectory planning for autonomous Unmanned Aerial Vehicle (UAV) in a dynamic environment. The purpose of this study is to make the UAV more reactive in the environment and ensure the safety and optimality of the computed trajectory. In this implementation, we begin by selecting a dynamic model of a fixed-arms quadrotor UAV. Then, we define our multi-objective optimization problem, which we convert afterward into a scalar optimization problem (SOP). The SOP is subdivided after that into smaller sub-problems, which will be treated in parallel and in a reasonable time. The DC principle employed in our method allows us to treat non-linearity at the local level. The coordination between the two levels is achieved after that through the Lagrange multipliers. Making use of the DC method, we can compute the optimal trajectory from the UAV’s current position to a final target practically in real-time. In this approach, we suppose that the environment is totally supervised by a Ground Control Unit (GCU). To ensure the safety of the trajectory, we consider a wireless communication network over which the UAV may communicate with the GCU and get the necessary information about environmental changes, allowing for successful collision avoidance during the flight until the intended goal is safely attained. The analysis of the DC algorithm’s stability and convergence, as well as the simulation results, are provided to demonstrate the advantages of our method and validate its potential.

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Section: Author Contributions the Contributions In Relation With This Submissionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Effective and Safe Trajectory Planning for an Autonomous UAV Using a Decomposition-Coordination Method

Nizar

Jaafar

Hidila

et al. 2021

J Intell Robot Syst

Self Cite

View full text Add to dashboard Cite

show abstract

Safe and Optimal Path Planning for Autonomous UAV Using a Decomposition-Coordination Method

Cited by 1 publication

References 13 publications

Effective and Safe Trajectory Planning for an Autonomous UAV Using a Decomposition-Coordination Method

Effective and Safe Trajectory Planning for an Autonomous UAV Using a Decomposition-Coordination Method

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