Journal
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume 23, Issue 9, Pages 16842-16853Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2021.3131473
Keywords
Task analysis; Autonomous aerial vehicles; Search problems; Clustering algorithms; Planning; Optimization; Trajectory; Automatic path planning; adaptive clustering; unmanned aerial vehicle; symbiotic organisms search
Categories
Funding
- National Natural Science Foundation of China [62106202]
- Aeronautical Science Foundation of China [2020Z023053004]
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This study focuses on the automatic path planning of autonomous unmanned aerial vehicles (UAVs) with different capabilities using linear programming and clustering algorithms to minimize the time consumption of search tasks.
Due to the high maneuverability and strong adaptability, autonomous unmanned aerial vehicles (UAVs) are of high interest to many civilian and military organizations around the world. Automatic path planning which autonomously finds a good enough path that covers the whole area of interest, is an essential aspect of UAV autonomy. In this study, we focus on the automatic path planning of heterogeneous UAVs with different flight and scan capabilities, and try to present an efficient algorithm to produce appropriate paths for UAVs. First, models of heterogeneous UAVs are built, and the automatic path planning is abstracted as a multi-constraint optimization problem and solved by a linear programming formulation. Then, inspired by the density-based clustering analysis and symbiotic interaction behaviours of organisms, an adaptive clustering-based algorithm with a symbiotic organisms search-based optimization strategy is proposed to efficiently settle the path planning problem and generate feasible paths for heterogeneous UAVs with a view to minimizing the time consumption of the search tasks. Experiments on randomly generated regions are conducted to evaluate the performance of the proposed approach in terms of task completion time, execution time and deviation ratio.
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