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    3D Real-Time Energy Efficient Path Planning for a Fleet of Fixed-Wing UAVs

    3D Real-Time Energy Efficient Path Planning for a Fleet of Fixed-Wing UAVs

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    UAV path planning requires finding an optimal (or sub-optimal) collision free path in a cluttered environment, while taking into account geometric, physical and temporal constraints, eventually allowing UAVs to perform their tasks despite several uncertainty sources. This paper reviews the current state-of-the-art in path planning, and subsequently introduces a novel node-based algorithm based on the called EEA*. EEA* is based on the A* Search algorithm and aims at mitigating some of its key limitations. The proposed EEA* deals with 3D environments, it provides robustness quickly converging to the solution, it is energy efficient and it is realtime implementable and executable. Along with the proposed EEA*, a local path planner is developed to cope with unknown dynamic threats in the environment. Applicability and effectiveness is first demonstrated via simulated experiments using a fixed-wing UAV that operates in different mountain-like 3D environments in the presence of several unknown dynamic obstacles. Then, the algorithm is applied in a multi-agent setting with three UAVs that are commanded to follow their respective paths in a safe way. The energy efficiency of the EEA* algorithm has also been tested and compared with the conventional A* algorithm.

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    Titel :

    3D Real-Time Energy Efficient Path Planning for a Fleet of Fixed-Wing UAVs

    Beteiligte:
    Aiello, G. (Autor:in) / Valavanis, K. (Autor:in) / Rizzo, A. (Autor:in)
    Erscheinungsdatum :

    2021-01-01

    DOI :

    https://doi.org/10.1109/ICUAS51884.2021.9476769

    Medientyp :

    Aufsatz (Konferenz)

    Format :

    Elektronische Ressource

    Sprache :

    Englisch

    Schlagwörter :

    Three-dimensional displays , Uncertainty , Heuristic algorithms , Path planning , Energy efficiency , Unmanned aerial vehicles , Robustness

    Klassifikation :

    DDC:    006 / 629

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