Article (Scientific journals)
Collision Avoidance Effects on the Mobility of a UAV Swarm Using Chaotic Ant Colony with Model Predictive Control
Dentler, Jan Eric; Rosalie, Martin; Danoy, Grégoire et al.
2018In Journal of Intelligent and Robotic Systems, p. 1-17
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Keywords :
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
Abstract :
[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.
Research center :
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Automation & Robotics Research Group
- Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Other
ULHPC - University of Luxembourg: High Performance Computing
Disciplines :
Computer science
Author, co-author :
Dentler, Jan Eric ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Rosalie, Martin ;  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
External co-authors :
no
Language :
English
Title :
Collision Avoidance Effects on the Mobility of a UAV Swarm Using Chaotic Ant Colony with Model Predictive Control
Publication date :
20 April 2018
Journal title :
Journal of Intelligent and Robotic Systems
ISSN :
1573-0409
Publisher :
Springer Netherlands, Netherlands
Pages :
1-17
Peer reviewed :
Peer Reviewed verified by ORBi
Focus Area :
Computational Sciences
Security, Reliability and Trust
FnR Project :
FNR9312118 - Controller Design For Cooperative Flying Manipulation Using Small Quadrotor Uavs, 2014 (15/11/2014-14/11/2018) - Jan Eric Dentler
Funders :
FNR - Fonds National de la Recherche [LU]
Available on ORBilu :
since 03 May 2018

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