Optimal collision-free navigation for multi-rotor UAV swarms in urban areas

Xiangpeng Wan; Hakim Ghazzai; Yehia Massoud; Hamid Menouar

doi:10.1109/VTCSpring.2019.8746332

Optimal collision-free navigation for multi-rotor UAV swarms in urban areas

Xiangpeng Wan, Hakim Ghazzai, Yehia Massoud, Hamid Menouar

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Scopus citations

Abstract

The use of micro unmanned aerial vehicles (UAVs) have gained a lot of interests especially for smart city applications due to their three- dimensional (3D) mobility and flexibility. Path planning is one of the most important UAV problems that needs to be addressed. In this paper, we focus on determining the optimal routes for a fleet of UAVs in urban cities that minimize the total arrival time of all UAV swarms while respecting their energy consumption constraints and avoiding the risk of collision. Through a mixed integer linear program, we develop a safe navigation framework for realistic 3D maps where charging stations are made available to recharge UAV batteries on their ways to destination. Our results investigate different scenarios for selected system parameters and illustrate different collision avoidance techniques followed by the UAVs.

Original language	English (US)
Title of host publication	IEEE Vehicular Technology Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Print)	9781728112176
DOIs	https://doi.org/10.1109/VTCSpring.2019.8746332
State	Published - Apr 1 2019
Externally published	Yes

Bibliographical note

Generated from Scopus record by KAUST IRTS on 2022-09-13

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/VTCSpring.2019.8746332

Cite this

@inproceedings{2702cd51bf594574b08e0f9e053b60ee,

title = "Optimal collision-free navigation for multi-rotor UAV swarms in urban areas",

abstract = "The use of micro unmanned aerial vehicles (UAVs) have gained a lot of interests especially for smart city applications due to their three- dimensional (3D) mobility and flexibility. Path planning is one of the most important UAV problems that needs to be addressed. In this paper, we focus on determining the optimal routes for a fleet of UAVs in urban cities that minimize the total arrival time of all UAV swarms while respecting their energy consumption constraints and avoiding the risk of collision. Through a mixed integer linear program, we develop a safe navigation framework for realistic 3D maps where charging stations are made available to recharge UAV batteries on their ways to destination. Our results investigate different scenarios for selected system parameters and illustrate different collision avoidance techniques followed by the UAVs.",

author = "Xiangpeng Wan and Hakim Ghazzai and Yehia Massoud and Hamid Menouar",

note = "Generated from Scopus record by KAUST IRTS on 2022-09-13",

year = "2019",

month = apr,

day = "1",

doi = "10.1109/VTCSpring.2019.8746332",

language = "English (US)",

isbn = "9781728112176",

booktitle = "IEEE Vehicular Technology Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

}

TY - GEN

T1 - Optimal collision-free navigation for multi-rotor UAV swarms in urban areas

AU - Wan, Xiangpeng

AU - Ghazzai, Hakim

AU - Massoud, Yehia

AU - Menouar, Hamid

N1 - Generated from Scopus record by KAUST IRTS on 2022-09-13

PY - 2019/4/1

Y1 - 2019/4/1

N2 - The use of micro unmanned aerial vehicles (UAVs) have gained a lot of interests especially for smart city applications due to their three- dimensional (3D) mobility and flexibility. Path planning is one of the most important UAV problems that needs to be addressed. In this paper, we focus on determining the optimal routes for a fleet of UAVs in urban cities that minimize the total arrival time of all UAV swarms while respecting their energy consumption constraints and avoiding the risk of collision. Through a mixed integer linear program, we develop a safe navigation framework for realistic 3D maps where charging stations are made available to recharge UAV batteries on their ways to destination. Our results investigate different scenarios for selected system parameters and illustrate different collision avoidance techniques followed by the UAVs.

AB - The use of micro unmanned aerial vehicles (UAVs) have gained a lot of interests especially for smart city applications due to their three- dimensional (3D) mobility and flexibility. Path planning is one of the most important UAV problems that needs to be addressed. In this paper, we focus on determining the optimal routes for a fleet of UAVs in urban cities that minimize the total arrival time of all UAV swarms while respecting their energy consumption constraints and avoiding the risk of collision. Through a mixed integer linear program, we develop a safe navigation framework for realistic 3D maps where charging stations are made available to recharge UAV batteries on their ways to destination. Our results investigate different scenarios for selected system parameters and illustrate different collision avoidance techniques followed by the UAVs.

UR - https://ieeexplore.ieee.org/document/8746332/

UR - http://www.scopus.com/inward/record.url?scp=85068990730&partnerID=8YFLogxK

U2 - 10.1109/VTCSpring.2019.8746332

DO - 10.1109/VTCSpring.2019.8746332

M3 - Conference contribution

SN - 9781728112176

BT - IEEE Vehicular Technology Conference

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Optimal collision-free navigation for multi-rotor UAV swarms in urban areas

Abstract

Bibliographical note

UN SDGs

Access to Document

Other files and links

Fingerprint

Cite this