A novel UAV path planning algorithm to search for floating objects on the ocean surface based on object’s trajectory prediction by regression

Boulares, Mehrez; Barnawi, Ahmed

doi:10.1016/j.robot.2020.103673

Cited by 16 publications

(15 citation statements)

References 34 publications

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“…(Routine mission pay more attention on the total cost of the mission.) (10) The UAVs can keep flying and visiting the targets unless it is destroyed.…”

Section: Problem Descriptionmentioning

confidence: 99%

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A two-stage UAV routing problem with time window considering rescheduling with random delivery reliability

Yan

Tian

Gao

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part O:

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Reliability is an important metric for unmanned aerial vehicles (UAVs) to perform important, complex, and dangerous tasks. In addition, reliability influences the operational cost in UAVs routing. In order to reduce the operational cost of UAVs tasks, a method of routing strategy optimization is proposed from a view of mission reliability in this paper to address the limitations in routing scheduling. Different from previous studies on the UAVs routing optimization problem, this paper proposes a method that can reduce the operational costs of UAVs tasks based on the mission reliability. This method includes two stages: the pre-optimization stage and the rescheduling stage. In the pre-optimization stage, an optimal UAVs route solution is obtained for all the targets, while in the rescheduling stage, new UAVs are dispatched to the unvisited targets in the pre-optimization stage based on the new optimal UAVs route.

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“…(Routine mission pay more attention on the total cost of the mission.) (10) The UAVs can keep flying and visiting the targets unless it is destroyed.…”

Section: Problem Descriptionmentioning

confidence: 99%

“…Many scholars have researched the problem of UAVs routing optimisation problems, such as Kinney et al [7], Obelin et al [8], and Coelho et al [9]. In a study from Shima et al [10], a problem of cooperative multitasking distribution was proposed and the computational complexity was analysed.…”

mentioning

confidence: 99%

A two-stage UAV routing problem with time window considering rescheduling with random delivery reliability

Yan

Tian

Gao

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part O:

View full text Add to dashboard Cite

show abstract

“…the shortest distance D min between the UAV and the obstacle is less than the UAV safety threshold, the UAV flight speed was reduced (according to the nature of exponential function). If the UAV flies outside the safety threshold (i.e., the shortest distance D min between the UAV and obstacles is greater than the UAV safety threshold), the UAV flight speed is set according to the maximum speed weight, as shown in equation (14).…”

Section: Adaptive Function Calculationmentioning

confidence: 99%

“…Similarly, Xu et al model obstacles as circular no-fly zones and optimize the planning path based on the Laguerre diagram [13]. Boulares and Barnawe et al proposed a regression algorithm, which used the predicted trajectory of the missing target to plan the path of the UAV search task [14]. Belkadi et al proposed a distributed UAV trajectory generation strategy, which solved some problems in a group of UAV control and can be applied to large-scale search, monitoring, inspection, and rescue [15].…”

Section: Introductionmentioning

confidence: 99%

UAV Path Planning Based on Improved A $*$ and DWA Algorithms

Bai

Jiang

Cui

et al. 2021

International Journal of Aerospace Engineering

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This work proposes a path planning algorithm based on A ∗ and DWA to achieve global path optimization while satisfying security and speed requirements for unmanned aerial vehicles (UAV). The algorithm first preprocesses the map for irregular obstacles encountered by a UAV in flight, including grid preprocessing for arc-shaped obstacles and convex preprocessing for concave obstacles. Further, the standard A ∗ algorithm is improved based on UAV’s flight environment information and motion constraints. Further, the DWA algorithm’s limitations regarding local optimization and long planning time are mitigated by adaptively adjusting the evaluation function according to the UAV’s safety threshold, obstacles, and environment information. As a result, the global optimal path evaluation subfunction is constructed. Finally, the key points of the global path are selected as the subtarget points of the local path planning. Under the premise of the optimal path, the UAV real-time path’s efficiency and safety are effectively improved. The experimental results demonstrate that the path planning based on improved A ∗ and DWA algorithms shortens the path length, reduces the planning time, improves the UAV path smoothness, and enhances the safety of UAV path obstacle avoidance.

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“…Tethered vehicles, also known as Remotely Operated underwater Vehicles (ROV), for example, have been used to quantify the concentration of plastics in the water column at depths of up to 1 km and understand the impact of large-scale filtration by giant larvaceans [8,24]. On the other hand, free-swimming Autonomous Underwater Vehicles (AUV) have been used to explore the Arctic seafloor and have facilitated the survey of marine protected areas as well as execute search and find missions [2,5,27]. While AUV are advantageous given their high speeds and broad spatial coverage, they are not suited for highly complex environments, such as caves, coral reefs, and shipwrecks, where the risk of collision and damage can be significant.…”

Section: Introductionmentioning

confidence: 99%

RoboKrill : a metachronal drag-based swimmer robot

Santos¹,

Cuenca-Jiménez²,

Gomez-Valdez³

et al. 2022

Preprint

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A novel UAV path planning algorithm to search for floating objects on the ocean surface based on object’s trajectory prediction by regression

Cited by 16 publications

References 34 publications

A two-stage UAV routing problem with time window considering rescheduling with random delivery reliability

A two-stage UAV routing problem with time window considering rescheduling with random delivery reliability

UAV Path Planning Based on Improved A $*$ and DWA Algorithms

RoboKrill : a metachronal drag-based swimmer robot

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A novel UAV path planning algorithm to search for floating objects on the ocean surface based on object’s trajectory prediction by regression

Cited by 16 publications

References 34 publications

A two-stage UAV routing problem with time window considering rescheduling with random delivery reliability

A two-stage UAV routing problem with time window considering rescheduling with random delivery reliability

UAV Path Planning Based on Improved A∗and DWA Algorithms

RoboKrill : a metachronal drag-based swimmer robot

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Product

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UAV Path Planning Based on Improved A $*$ and DWA Algorithms