Real-Time Collision-Free Navigation of Multiple UAVs Based on Bounding Boxes
| Autor: | Rafael Casado, Paloma Sánchez, Aurelio Bermúdez |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer Networks and Communications Computer science Real-time computing Population lcsh:TK7800-8360 ComputerApplications_COMPUTERSINOTHERSYSTEMS 02 engineering and technology multi-UAV systems 020901 industrial engineering & automation bounding box 0203 mechanical engineering Bounding overwatch Minimum bounding box mobile robots Collision free path/trajectory planning unmanned aerial vehicles (UAVs) collision avoidance Electrical and Electronic Engineering education Collision avoidance 020301 aerospace & aeronautics education.field_of_study lcsh:Electronics Mobile robot Hardware and Architecture Control and Systems Engineering Obstacle Signal Processing autonomous navigation systems |
| Zdroj: | Electronics Volume 9 Issue 10 Electronics, Vol 9, Iss 1632, p 1632 (2020) |
| ISSN: | 2079-9292 |
| DOI: | 10.3390/electronics9101632 |
| Popis: | Predictably, future urban airspaces will be crowded with autonomous unmanned aerial vehicles (UAVs) offering different services to the population. One of the main challenges in this new scenario is the design of collision-free navigation algorithms to avoid conflicts between flying UAVs. The most appropriate collision avoidance strategies for this scenario are non-centralized ones that are dynamically executed (in real time). Existing collision avoidance methods usually entail a high computational cost. In this work, we present Bounding Box Collision Avoidance (BBCA) algorithm, a simplified velocity obstacle-based technique that achieves a balance between efficiency and cost. The performance of the proposal is analyzed in detail in different airspace configurations. Simulation results show that the method is able to avoid all the conflicts in two UAV scenarios and most of them in multi-UAV ones. At the same time, we have found that the penalty of using the BBCA collision avoidance technique on the flying time and the distance covered by the UAVs involved in the conflict is reasonably acceptable. Therefore, we consider that BBCA may be an excellent candidate for the design of collision-free navigation algorithms for UAVs. |
| Databáze: | OpenAIRE |
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