Multi-Objective Cooperated Path Planning of Multiple UAVs Based on Revisit Time - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Journal of Aerospace Information Systems Année : 2021

Multi-Objective Cooperated Path Planning of Multiple UAVs Based on Revisit Time

, , (1)
1
Hassan Haghighi
  • Fonction : Auteur
  • PersonId : 1103141
Davood Asadi
  • Fonction : Auteur
Daniel Delahaye

Résumé

This paper investigates multi-objective optimization of coordinated patrolling flight of multiple unmanned aerial vehicles in the vicinity of terrain, while respecting their performance parameters. A new efficient modified A-star (A*) algorithm with a novel defined criterion known as individual revisit time cell value is introduced and extended to the whole area of the 3D mountainous environment. As a contribution to solving trade-offs in the optimization problem, revisit time is conjugated with other contrary costs effective in flight planning through Pareto analysis. By introducing the revisit time and applying a specific setup to mitigate computational complexity, the proposed algorithm efficiently revisits the desired zones, which are more important to be revisited during the patrolling mission. The results of the introduced modified A* algorithm are compared in various scenarios with two different algorithms including a complete and optimal algorithm known as Dijkstra, and an evolutionary algorithm known as the genetic algorithm. Simulation results demonstrate that the proposed algorithm generates faster and more efficient trajectories in complex multiagent scenarios due to the introduced cell selection method and dynamic-based simplifications applied in this research.
Fichier principal
Vignette du fichier
Manuscript_ID 2020-05-I010866.pdf (3.57 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03269427 , version 1 (24-06-2021)

Identifiants

Citer

Hassan Haghighi, Davood Asadi, Daniel Delahaye. Multi-Objective Cooperated Path Planning of Multiple UAVs Based on Revisit Time. Journal of Aerospace Information Systems, 2021, ⟨10.2514/1.I010866⟩. ⟨hal-03269427⟩
96 Consultations
99 Téléchargements

Altmetric

Partager

Gmail Facebook Twitter LinkedIn More