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Article

Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments

Robotics Lab, Universidad Carlos III de Madrid, Av. Madrid 30, 28911 Leganés, Spain
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Academic Editors: Jorge Godoy, Antonio Artuñedo, Jorge Villagra and Alberto Gotta
Sensors 2021, 21(13), 4414; https://doi.org/10.3390/s21134414
Received: 28 April 2021 / Revised: 16 June 2021 / Accepted: 25 June 2021 / Published: 28 June 2021
(This article belongs to the Special Issue Smooth Motion Planning for Autonomous Vehicles)
Multi-UAV systems are attracting, especially in the last decade, the attention of researchers and companies of very different fields due to the great interest in developing systems capable of operating in a coordinated manner in complex scenarios and to cover and speed up applications that can be dangerous or tedious for people: search and rescue tasks, inspection of facilities, delivery of goods, surveillance, etc. Inspired by these needs, this work aims to design, implement and analyze a trajectory planning and collision avoidance strategy for multi-UAV systems in 3D environments. For this purpose, a study of the existing techniques for both problems is carried out and an innovative strategy based on Fast Marching Square—for the planning phase—and a simple priority-based speed control—as the method for conflict resolution—is proposed, together with prevention measures designed to try to limit and reduce the greatest number of conflicting situations that may occur between vehicles while they carry out their missions in a simulated 3D urban environment. The performance of the algorithm is evaluated successfully on the basis of certain conveniently chosen statistical measures that are collected throughout the simulation runs. View Full-Text
Keywords: multi-UAV systems; autonomous vehicle; fast marching; collision avoidance; path planning; velocity control; 3D Environment multi-UAV systems; autonomous vehicle; fast marching; collision avoidance; path planning; velocity control; 3D Environment
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MDPI and ACS Style

López, B.; Muñoz, J.; Quevedo, F.; Monje, C.A.; Garrido, S.; Moreno, L.E. Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments. Sensors 2021, 21, 4414. https://doi.org/10.3390/s21134414

AMA Style

López B, Muñoz J, Quevedo F, Monje CA, Garrido S, Moreno LE. Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments. Sensors. 2021; 21(13):4414. https://doi.org/10.3390/s21134414

Chicago/Turabian Style

López, Blanca, Javier Muñoz, Fernando Quevedo, Concepción A. Monje, Santiago Garrido, and Luis E. Moreno 2021. "Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments" Sensors 21, no. 13: 4414. https://doi.org/10.3390/s21134414

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