Advertisement

Improved Safety with a Distributed Routing Strategy for UAVs

  • William D. BonnellEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11650)

Abstract

This paper presents a routing strategy for UAVs that can be applied in conjunction with lower level collision avoidance methods. The strategy allows individual UAVs to route themselves in 2D space in order to avoid areas of high-density traffic. The proposed approach is explored in simulation. The results demonstrate a safer system operation when the routing strategy is used, compared with just a simple collision avoidance method.

Keywords

UAV Distributed Routing 

References

  1. 1.
    Helbing, D., Molnár, P.: Social force model for pedestrian dynamics. Phys. Rev. E 51(5), 4282–4286 (1995).  https://doi.org/10.1103/PhysRevE.51.4282. https://link.aps.org/doi/10.1103/PhysRevE.51.4282CrossRefGoogle Scholar
  2. 2.
    Otte, M., Frazzoli, E.: RRTX: asymptotically optimal single-query sampling-based motion planning with quick replanning. Int. J. Robot. Res. 35(7), 797–822 (2016).  https://doi.org/10.1177/0278364915594679CrossRefGoogle Scholar
  3. 3.
    Van Den Berg, J., Guy, S.J., Lin, M., Manocha, D.: Reciprocal n-body collision avoidance. In: Pradalier, C., Siegwart, R., Hirzinger, G. (eds.) Robotics Research. Springer Tracts in Advanced Robotics, vol. 70, pp. 9–19. Springer, Heidelberg (2011).  https://doi.org/10.1007/978-3-642-19457-3_1CrossRefGoogle Scholar
  4. 4.
    Vásárhelyi, G., Virágh, C., Somorjai, G., Nepusz, T., Eiben, A.E., Vicsek, T.: Optimized flocking of autonomous drones in confined environments. Sci. Robot. 3(20), eaat3536 (2018).  https://doi.org/10.1126/scirobotics.aat3536. http://robotics.sciencemag.org/lookup/doi/10.1126/scirobotics.aat3536CrossRefGoogle Scholar
  5. 5.
    Wedde, H.F., et al.: A novel class of multi-agent algorithms for highly dynamic transport planning inspired by honey bee behavior. In: 2007 IEEE Conference on Emerging Technologies and Factory Automation (EFTA 2007), pp. 1157–1164, September 2007.  https://doi.org/10.1109/EFTA.2007.4416912
  6. 6.
    Woods, A.C., La, H.M., Member, S.: A novel potential field controller for use on aerial robots. IEEE Trans. Syst. Man Cybern. Syst. 49(4), 665–676 (2019).  https://doi.org/10.1109/TSMC.2017.2702701CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.University of BristolBristolUK

Personalised recommendations