Multi-UAV Path Planning for Autonomous Missions in Mixed GNSS Coverage Scenarios.

ABSTRACT: This paper presents an algorithm for multi-UAV path planning in scenarios with heterogeneous Global Navigation Satellite Systems (GNSS) coverage. In these environments, cooperative strategies can be effectively exploited when flying in GNSS-challenging conditions, e.g., natural/urban canyons, while the different UAVs can fly as independent systems in the absence of navigation issues (i.e., open sky conditions). These different flight environments are taken into account at path planning level, obtaining a distributed multi-UAV system that autonomously reconfigures itself based on mission needs. Path planning, formulated as a vehicle routing problem, aims at defining smooth and flyable polynomial trajectories, whose time of flight is estimated to guarantee coexistence of different UAVs at th

SUBMITTER: Causa F 

PROVIDER: S-EPMC6308699 | biostudies-literature | 2018 Nov

REPOSITORIES: biostudies-literature