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Multi-UAVs Collaborative Path Planning in the Cramped Environment

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Due to its flexibility and complementarity,the multi-UAVs system is well adapted to complex and cramped worksp-aces,with great application potential in the search and rescue(SAR)and indoor goods delivery fields.However,safe and effec-tive path planning of multiple unmanned aerial vehicles(UAVs)in the cramped environment is always challenging:conflicts with each other are frequent because of high-density flight paths,colli-sion probability increases because of space constraints,and the search space increases significantly,including time scale,3D scale and model scale.Thus,this paper proposes a hierarchical collab-orative planning framework with a conflict avoidance module at the high level and a path generation module at the low level.The enhanced conflict-base search(ECBS)in our framework is improved to handle the conflicts in the global path planning and avoid the occurrence of local deadlock.And both the collision and kinematic models of UAVs are considered to improve path smoothness and flight safety.Moreover,we specifically designed and published the cramped environment test set containing vari-ous unique obstacles to evaluating our framework performance thoroughly.Experiments are carried out relying on Rviz,with multiple flight missions:random,opposite,and staggered,which showed that the proposed method can generate smooth coopera-tive paths without conflict for at least 60 UAVs in a few minutes.The benchmark and source code are released in https://github.com/inin-xingtian/multi-UAVs-path-planner.

Collision avoidanceconflict resolutionmulti-unmanned aerial vehicles(UAVs)systempath planning

Siyuan Feng、Linzhi Zeng、Jining Liu、Yi Yang、Wenjie Song

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School of Automation,Beijing Institute of Technology,Beijing 100081,China,Nanjing Research Institute of Electronics Technology,Nanjing 210039,China

School of Automation,Beijing Institute of Technology,Beijing 100081,China,Yichang Testing Technique Research Institute,Yichang 443003,China

School of Automation,Beijing Institute of Technology,Beijing 100081,China

National Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaYouth Talent Promotion Project of China Association for Science and TechnologyBeijing Institute of Technology Research Fund Program for Young Scholars

62373052U19132036190 3034

2024

10.1109/JAS.2023.123945

自动化学报(英文版)
中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSTPCDEI
ISSN：2329-9266
年,卷(期)：2024.11(2)
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