DocumentCode :
505236
Title :
Multi-mission Path Re-planning for Multiple Unmanned Aerial Vehicles Based on Unexpected Events
Author :
Meng, Bo-Bo ; Gao, Xiaoguang ; Wang, Yunhui
Author_Institution :
Sch. of Electron. & Inf., Northwestern Polytech. Univ., Xi´´an, China
Volume :
1
fYear :
2009
fDate :
26-27 Aug. 2009
Firstpage :
423
Lastpage :
426
Abstract :
Natural disasters such as forest fires, earthquakes, tsunamis, floods, hurricanes, and cyclones happen unexpectedly and bring out the worst influence on people. Unmanned Aerial Vehicles (UAVs) could be used under these disasters for surveillance, search and rescue. In order to have good performances in mission areas, effective algorithms are required in mission re-tasking and path re-planning to handle unanticipated events or any environmental disturbances. In this paper, a new algorithm is proposed to deal with path re-planning for multi-mission of multi-UAV under environments with unexpected events. A group of UAVs are considered to perform joint missions. Each UAV plans its own initial, optimal or sub-optimal path using Voronoi graph and Dijkstra algorithm. Our algorithm is then employed to assign a distinct task to each UAV and to re-plan its path based on new multi-mission requirement corresponding to some unexpected events. In addition to a theoretical analysis of the algorithm, the paper has also provided relevant simulation results which have shown that the algorithm can be used effectively for multiple cooperating UAVs´ path re-planning under uncertain and dynamic disaster environments.
Keywords :
aircraft control; computational geometry; disasters; path planning; remotely operated vehicles; Dijkstra algorithm; UAV; Voronoi graph; dynamic disaster environment; environmental disturbances; mission re-tasking; multimission path re-planning; multiple unmanned aerial vehicles; natural disasters; theoretical analysis; uncertain disaster environment; unexpected events; Algorithm design and analysis; Analytical models; Cyclones; Earthquakes; Fires; Floods; Hurricanes; Surveillance; Tsunami; Unmanned aerial vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics, 2009. IHMSC '09. International Conference on
Conference_Location :
Hangzhou, Zhejiang
Print_ISBN :
978-0-7695-3752-8
Type :
conf
DOI :
10.1109/IHMSC.2009.113
Filename :
5336128
Link To Document :
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