Path Planning Method for Collision Avoidance of Multiple UAVs
In recent years, the development of unmanned aerial vehicles (UAVs) has increased significantly and they are currently used in various fields and applications. In some applications, multiple UAVs need to be cooperated to accomplish tasks, because a single
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Faculty of Computer Engineering, Keimyung University, Daegu, South Korea {hyeok,guichang}@kmu.ac.kr 2 Department of Multimedia Engineering, Dongguk University, Seoul, South Korea {jeonghoon,sung}@dongguk.edu
Abstract. In recent years, the development of unmanned aerial vehicles (UAVs) has increased significantly and they are currently used in various fields and applications. In some applications, multiple UAVs need to be cooperated to accomplish tasks, because a single UAV is not sufficient. However, even when multiple UAVs are used, their autonomous control systems are not perfect, which leads to collisions between the UAVs. In this paper, we propose a path planning method for collision avoidance of UAVs, when multiple UAVs are controlled using a ground control system. Furthermore, using this method, the UAVs have less likelihood to be in a close encounter with obstacles, and collisions are avoided. Keywords: UAV Path planning Geometric approach
Collision avoidance
Multiple UAVs
1 Introduction As applications of unmanned aerial vehicles (UAVs) have been increasing, more fields are trying to use UAVs. A few examples are search and rescue operations, surveillance systems, crop dusting, and performances using multiple UAVs [1–4]. When a single UAV is used, it can take a long time to accomplish tasks, or even fail. This problem can be resolved using multiple UAVs. However, to operate multiple UAVs in a ground control system, it is necessary to apply a collision avoidance technique to the system. In this paper, we propose a path planning method for collision avoidance of multiple UAVs based on recorded UAV flight data. A geometric arithmetic algorithm is used to plan the flight paths for multiple UAVs, predict possible collisions before operation, and prevent collisions [6]. While traditional geometric arithmetic algorithms use the velocity information of UAVs, the proposed method computes the differences in recorded UAV flight data. Because the method uses the recorded UAV flight data to plan the paths, it can consider the collision issues less than traditional algorithms.
© Springer Nature Singapore Pte Ltd. 2017 J.J. (Jong Hyuk) Park et al. (eds.), Advanced Multimedia and Ubiquitous Engineering, Lecture Notes in Electrical Engineering 448, DOI 10.1007/978-981-10-5041-1_9
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The rest of this paper is organized as follows: In Sect. 2, we propose a path planning method for multiple UAVs. In Sect. 3, the implementation of the proposed method is described, the operations are verified, and the conclusions are provided.
2 Multiple UAV Control for Collision Avoidance The method for generating collision avoidance paths is described in Fig. 1. In the first stage, i.e., the flight record correction stage, a user records UAV flight data while controlling the UAV with a controller. In the second stage, i.e., the flight record revision stage, a path revision algorithm is used to revise the paths recorded in the first stage. Finally, in the third stage, i.e., the avoidance path planning stage, the syste
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