Reference : Collision Avoidance Effects on the Mobility of a UAV Swarm Using Chaotic Ant Colony w...
Scientific journals : Article
Engineering, computing & technology : Computer science
Computational Sciences; Security, Reliability and Trust
http://hdl.handle.net/10993/35582
Collision Avoidance Effects on the Mobility of a UAV Swarm Using Chaotic Ant Colony with Model Predictive Control
English
Dentler, Jan Eric mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) >]
Rosalie, Martin mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) >]
Danoy, Grégoire [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Computer Science and Communications Research Unit (CSC) >]
Bouvry, Pascal [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Computer Science and Communications Research Unit (CSC)]
Kannan, Somasundar [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) >]
Olivares Mendez, Miguel Angel [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit]
20-Apr-2018
Journal of Intelligent \& Robotic Systems
Springer Netherlands
1-17
Yes (verified by ORBilu)
International
0921-0296
1573-0409
Netherlands
[en] Unmanned aerial vehicles ; UAV ; Swarm ; Search & rescue ; Area exploration ; Chaotic ant colony optimization ; Chaotic dynamics ; Mobility Model ; Rössler system ; CACOC ; Area coverage ; Collison avoidance ; CA ; Model predictive control ; MPC ; Coverage metric ; Collision avoidance metric
[en] The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance the area coverage of such UAV swarms, a novel mobility model has been presented in previous work, combining an Ant Colony algorithm with chaotic dynamics (CACOC). This work is extending CACOC by a Collision Avoidance (CA) mechanism and testing its efficiency in terms of area coverage by the UAV swarm. For this purpose, CACOC is used to compute UAV target waypoints which are tracked by model predictively controlled UAVs. The UAVs are represented by realistic motion models within the virtual robot experimentation platform (V-Rep). This environment is used to evaluate the performance of the proposed CACOC with CA algorithm in an area exploration scenario with 3 UAVs. Finally, its performance is analyzed using metrics.
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Automation & Robotics Research Group ; Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Other ; University of Luxembourg: High Performance Computing - ULHPC
Fonds National de la Recherche - FnR
http://hdl.handle.net/10993/35582
10.1007/s10846-018-0822-8
https://doi.org/10.1007/s10846-018-0822-8
FnR ; FNR9312118 > Jan Eric Dentler > FLYMAN > Controller design for cooperative flying manipulation using small quadrotor UAVs > 15/11/2014 > 14/11/2018 > 2014

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