Navigation-aware Path Planning for Multiple UAVs in Urban Environment
| Autor: | Flavia Causa, Giancarmine Fasano |
|---|---|
| Přispěvatelé: | Causa, F., Fasano, G. |
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
Dilution of precision
Flight planner 020301 aerospace & aeronautics 0209 industrial biotechnology Urban Navigation Computer science Path Planning UAV Real-time computing ComputerApplications_COMPUTERSINOTHERSYSTEMS 02 engineering and technology Navigation Performance Waypoint 020901 industrial engineering & automation 0203 mechanical engineering GNSS applications Path (graph theory) Dilution of Precision Motion planning Routing (electronic design automation) GNSS challenging environment Urban environment |
| Popis: | This paper tackles the problem of multi-VAV routing in urban environment. Due to the heterogenous GNSS coverage characterizing these environments, path selection and waypoint assignment should account for the navigation performance of the UAVs, so as to guarantee flyable trajectories within an autonomous flight framework. Therefore, this paper accounts for navigation capability and onboard sensor performance while assigning waypoints to the VAVs. A centralized strategic flight planner is developed, which adapts to navigation performance levels and can also handle fleets of heterogeneous UAVs. The proposed path planning algorithm is tested in simulations using a 3D real-world scenario. The impact on path planning efficiency of different onboard sensors performance and of eventual ground infrastructure support is discussed. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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