Cooperative Motion Planning for Multiple UAVs via the Bézier Curve Guided Line of Sight Techniques
| Autor: | Thaweerath Phisannupawong, Patcharin Kamsing, Tanatthep Jarawan, Warunyu Hematulin, Thanaporn Somjit, Peerapong Torteeka |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Line-of-sight
Computer science business.industry Process (computing) 020206 networking & telecommunications Bézier curve 02 engineering and technology computer.software_genre Path (graph theory) 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Plug-in Computer vision Artificial intelligence Motion planning business computer |
| Zdroj: | 2021 23rd International Conference on Advanced Communication Technology (ICACT). |
| DOI: | 10.23919/icact51234.2021.9370684 |
| Popis: | Multiple motion planning plays an essential role in several vehicle motions. This paper proposes a cooperative method between the Line of Sight techniques and the Bezier curve, applying this to motion planning for unmanned aerial vehicles. The experiment is implemented using the AirSim plugin on Unreal Engine 4. The results of the proposed method are compared with those for the conventional Line of Sight techniques to control multiple unmanned aerial vehicles. The results illustrate that the proposed method takes more time to process than the conventional one. However, the proposed method can reach a higher performance by addressing the target unmanned aerial vehicles and the pre-defining path more than the conventional method does, which is shown in all three simulation cases. |
| Databáze: | OpenAIRE |
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