International Journal of Aeronautical and Space Sciences

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
권호 표지
DOI QR코드

DOI QR Code

Waypoints Assignment and Trajectory Generation for Multi-UAV Systems

  • Lee, Jin-Wook (Institute of Advanced Aerospace Technology School of Mechanical and Aerospace Engineering Seoul National University) ;
  • Kim, H.-Jin (Institute of Advanced Aerospace Technology School of Mechanical and Aerospace Engineering Seoul National University)
  • Published : 2007.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

Coordination of multiple UAVs is an essential technology for various applications in robotics, automation, and artificial intelligence. In general, it includes 1) waypoints assignment and 2) trajectory generation. In this paper, we propose a new method for this problem. First, we modify the concept of the standard visibility graph to greatly improve the optimality of the generated trajectories and reduce the computational complexity. Second, we propose an efficient stochastic approach using simulated annealing that assigns waypoints to each UAV from the constructed visibility graph. Third, we describe a method to detect collision between two UAVs. FinallY, we suggest an efficient method of controlling the velocity of UAVs using A* algorithm in order to avoid inter-UAV collision. We present simulation results from various environments that verify the effectiveness of our approach.

Keywords

References

  1. M. Koes, I. Nourbakhsh, and K. Sycara, 2006, 'Constraint optimization coordination architecture for search and rescue robotics', Proceedings of the 2006 IEEE International Conference on robotics and Automation, pp. 3977-3982
  2. R. W. Beard, T. W. McLain, and M. A. Goodrich, 2002, 'Coordinated target assignment and intercept for unmanned air vehicles', IEEE International Conference on robotics and Automation, pp. 2581-2586
  3. J. Ousingsawat and M. E. Campbell, 2004, 'Establishing optimal trajectories for multi-vehicle reconnaissance', AlAA Guidance, Navigation and Control Conference, pp. 1-12
  4. M. Alighanbari and J. P. How, 2005, 'Cooperative task assignment of unmanned aerial vehicles in adversarial environments', American Control Conference, pp. 4661-4666
  5. T Shima, S. J. Rasmussen, and A. G. Sparks, 2005, 'UAV cocrerative multiple task assignments using genetic algorithms' American Control Conference, pp. 2989-2994
  6. T. Schouwenaars, 2001, 'Safe trajectory planning of autonomous vehicles' Ph.D. dissertation, Massachusetts Institute of Technology, pp. 52
  7. J.Lahtinen, P.Myllymaki, T.Silander, and H.Tirri, 1996, 'Empirical comparison of stochastic algorithms', Proceedings of the Second Nordic Workshop on Genetic Algorithms and Their Applications, J. T. Alander, Ed. Vaasa, Finland: University of Vaasa August pp. 45-59
  8. J. Latombe, 1991, 'UAV motion planning', Kluwer Academic Pubiishers, pp. 164,370
  9. S. M. LaValle, 2006, 'Planning algorithms', Cambridge University Press, pp. 3-23
  10. R. W. Beard and T. W. McLain, 2003, 'Multiple uav cooperative rearch under collision avoidance and lirnited range communication constraints', Proceedings of the 42nd IEEE Conference on Decision and Control, Maui, Hawaii, pp. 25-30
  11. O. Khatib, 1986, 'Real-time obstacle avoidance for manipulator:; and mobile DAVs', International Journal of robotics Research, Vol. 5, no. 1, pp. 90-98
  12. H. Kirn, D. Shim, and S. Sastry, 2:002, 'Nonlinear model predicive tracking control for rotorcraft-based unmanned aerial vehicles', American Control Conference, Anchorage, AK, pp. 3576-3581
  13. J. Hershberger and S. Suri, 1999, 'An optimal algorithm for Euclidean shortest paths in the plane' SIAM. J. Comput., vol. 28, no. 6, pp. 2215-2256 https://doi.org/10.1137/S0097539795289604
  14. S. Akella and S. Hutchinson, 2002, 'Coordinating the motions of multiple UAVs with specified trajectories', International Conference on robotics and Automation, Washingtor, DC, pp.624-631
  15. J.-H. Hwang, R. C. Arkin, and D.-S. Kwon, 2003, 'Mobile UAYs at your fingertip: Bezier curve online trajectory generation for supervisory control', IEEE/RSJ Int. Conf. on Intelligent UAVs and Systems, IROS'03, pp. 1444-1449
  16. J. Thomas, A. Blair, and N. Bames, 2003, 'Towards an efficient optimal trajectory planner for multiple mobile UAVs', IEEE/RSJ Int. Conf. on Intelligent UAVs and Systems, IROS'03, pp. 2291-2296
  17. S. Lindemann and S. M. LaValle, 2006, 'Multiresolution approach for motion planning under differential constraints', IEEE International Conference on Robotics and Automation, pp. 133-138