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Sensors 2015, 15(11), 29734-29764; doi:10.3390/s151129734

UAVs Task and Motion Planning in the Presence of Obstacles and Prioritized Targets

Technion—Israel Institute of Technology, Technion City, Haifa 3200003, Israel
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Author to whom correspondence should be addressed.
Academic Editor: Felipe Gonzalez Toro
Received: 25 June 2015 / Revised: 5 November 2015 / Accepted: 12 November 2015 / Published: 24 November 2015
(This article belongs to the Special Issue UAV Sensors for Environmental Monitoring)
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Abstract

The 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
Keywords: UAV; task assignment; motion planning; obstacles; prioritized targets; Dubins car UAV; task assignment; motion planning; obstacles; prioritized targets; Dubins car
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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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.

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