Journal
APPLIED SCIENCES-BASEL
Volume 11, Issue 19, Pages -Publisher
MDPI
DOI: 10.3390/app11198898
Keywords
UAVs fleet mission planning; weather changes; sufficient conditions; re-routing; rescheduling; declarative modelling
Categories
Funding
- National Science Centre, Poland [2019/03/X/ST6/00429]
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The study focuses on the route planning of a UAV fleet for delivering to multiple customers in a dynamic environment, proposing a predictive and reactive delivery mission planning model, which has been validated through experiments for its practicality.
The presented problem concerns the route planning of a UAV fleet carrying out deliveries to spatially dispersed customers in a highly dynamic and unpredictable environment within a specified timeframe. The developed model allows for predictive (i.e., taking into account forecasted changing weather conditions) and reactive (i.e., enabling contingency UAVs rerouting) delivery mission planning (i.e., NP-hard problem) in terms of the constraint satisfaction problem. Due to the need to implement an emergency return of the UAV to the base or handling ad hoc ordered deliveries, sufficient conditions have been developed. Checking that these conditions are met allows cases to be eliminated if they do not guarantee acceptable solutions, thereby allowing the calculations to be sped up. The experiments carried out showed the usefulness of the proposed approach in DSS-based contingency planning of the UAVs' mission performed in a dynamic environment.
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