UAVs Task and Motion Planning in the Presence of Obstacles and Prioritized Targets
AbstractThe intertwined task assignment and motion planning problem of assigning a team of fixed-winged unmanned aerial vehicles to a set of prioritized targets in an environment with obstacles is addressed. It is assumed that the targets’ locations and initial priorities are determined using a network of unattended ground sensors used to detect potential threats at restricted zones. The targets are characterized by a time-varying level of importance, and timing constraints must be fulfilled before a vehicle is allowed to visit a specific target. It is assumed that the vehicles are carrying body-fixed sensors and, thus, are required to approach a designated target while flying straight and level. The fixed-winged aerial vehicles are modeled as Dubins vehicles, i.e., having a constant speed and a minimum turning radius constraint. The investigated integrated problem of task assignment and motion planning is posed in the form of a decision tree, and two search algorithms are proposed: an exhaustive algorithm that improves over run time and provides the minimum cost solution, encoded in the tree, and a greedy algorithm that provides a quick feasible solution. To satisfy the target’s visitation timing constraint, a path elongation motion planning algorithm amidst obstacles is provided. Using simulations, the performance of the algorithms is compared, evaluated and exemplified. View Full-Text
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Gottlieb, Y.; Shima, T. UAVs Task and Motion Planning in the Presence of Obstacles and Prioritized Targets. Sensors 2015, 15, 29734-29764.
Gottlieb Y, Shima T. UAVs Task and Motion Planning in the Presence of Obstacles and Prioritized Targets. Sensors. 2015; 15(11):29734-29764.Chicago/Turabian Style
Gottlieb, Yoav; Shima, Tal. 2015. "UAVs Task and Motion Planning in the Presence of Obstacles and Prioritized Targets." Sensors 15, no. 11: 29734-29764.