DC Field | Value | Language |
---|---|---|
dc.contributor.author | Moon, Sangwoo | ko |
dc.contributor.author | Oh, Eunmi | ko |
dc.contributor.author | Shim, David Hyunchul | ko |
dc.date.accessioned | 2013-03-12T10:10:23Z | - |
dc.date.available | 2013-03-12T10:10:23Z | - |
dc.date.created | 2013-01-28 | - |
dc.date.created | 2013-01-28 | - |
dc.date.issued | 2013-04 | - |
dc.identifier.citation | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v.70, no.1-4, pp.303 - 313 | - |
dc.identifier.issn | 0921-0296 | - |
dc.identifier.uri | http://hdl.handle.net/10203/101990 | - |
dc.description.abstract | In this paper, a hierarchical framework for task assignment and path planning of multiple unmanned aerial vehicles (UAVs) in a dynamic environment is presented. For multi-agent scenarios in dynamic environments, a candidate algorithm should be able to replan for a new path to perform the updated tasks without any collision with obstacles or other agents during the mission. In this paper, we propose an intersection-based algorithm for path generation and a negotiation-based algorithm for task assignment since these algorithms are able to generate admissible paths at a smaller computing cost. The path planning algorithm is also augmented with a potential field-based trajectory replanner, which solves for a detouring trajectory around other agents or pop-up obstacles. For validation, test scenarios for multiple UAVs to perform cooperative missions in dynamic environments are considered. The proposed algorithms are implemented on a fixed-wing UAVs testbed in outdoor environment and showed satisfactory performance to accomplish the mission in the presence of static and pop-up obstacles and other agents. | - |
dc.language | English | - |
dc.publisher | SPRINGER | - |
dc.title | An Integral Framework of Task Assignment and Path Planning for Multiple Unmanned Aerial Vehicles in Dynamic Environments | - |
dc.type | Article | - |
dc.identifier.wosid | 000312642600021 | - |
dc.identifier.scopusid | 2-s2.0-84871628706 | - |
dc.type.rims | ART | - |
dc.citation.volume | 70 | - |
dc.citation.issue | 1-4 | - |
dc.citation.beginningpage | 303 | - |
dc.citation.endingpage | 313 | - |
dc.citation.publicationname | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | - |
dc.identifier.doi | 10.1007/s10846-012-9740-3 | - |
dc.contributor.localauthor | Shim, David Hyunchul | - |
dc.contributor.nonIdAuthor | Moon, Sangwoo | - |
dc.contributor.nonIdAuthor | Oh, Eunmi | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Task assignment | - |
dc.subject.keywordAuthor | Path planning | - |
dc.subject.keywordAuthor | Multi-UAV coordination | - |
dc.subject.keywordAuthor | Multiple UAVs | - |
dc.subject.keywordAuthor | Flight experiment | - |
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