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Online path planning for unmanned aerial vehicles to maximize instantaneous information

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dc.contributor.author Ergezer, Halit
dc.contributor.author Leblebicioğlu, Kemal
dc.date.accessioned 2022-11-30T08:41:12Z
dc.date.available 2022-11-30T08:41:12Z
dc.date.issued 2021
dc.identifier.citation Ergezer, Halit; Leblebicioğlu, Kemal (2021). "Online path planning for unmanned aerial vehicles to maximize instantaneous information", International Journal of Advanced Robotic Systems, Vol. 18, No. 3. tr_TR
dc.identifier.issn 1729-8806
dc.identifier.uri http://hdl.handle.net/20.500.12416/5893
dc.description.abstract In this article, an online path planning algorithm for multiple unmanned aerial vehicles (UAVs) has been proposed. The aim is to gather information from target areas (desired regions) while avoiding forbidden regions in a fixed time window starting from the present time. Vehicles should not violate forbidden zones during a mission. Additionally, the significance and reliability of the information collected about a target are assumed to decrease with time. The proposed solution finds each vehicle’s path by solving an optimization problem over a planning horizon while obeying specific rules. The basic structure in our solution is the centralized task assignment problem, and it produces near-optimal solutions. The solution can handle moving, pop-up targets, and UAV loss. It is a complicated optimization problem, and its solution is to be produced in a very short time. To simplify the optimization problem and obtain the solution in nearly real time, we have developed some rules. Among these rules, there is one that involves the kinematic constraints in the construction of paths. There is another which tackles the real-time decision-making problem using heuristics imitating human-like intelligence. Simulations are realized in MATLAB environment. The planning algorithm has been tested on various scenarios, and the results are presented. tr_TR
dc.language.iso eng tr_TR
dc.relation.isversionof 10.1177/17298814211010379 tr_TR
dc.rights info:eu-repo/semantics/openAccess tr_TR
dc.subject Assignment Problem tr_TR
dc.subject Optimization tr_TR
dc.subject Path Planning tr_TR
dc.subject UAV tr_TR
dc.title Online path planning for unmanned aerial vehicles to maximize instantaneous information tr_TR
dc.type article tr_TR
dc.relation.journal International Journal of Advanced Robotic Systems tr_TR
dc.contributor.authorID 293396 tr_TR
dc.identifier.volume 18 tr_TR
dc.identifier.issue 3 tr_TR
dc.contributor.department Çankaya Üniversitesi, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü tr_TR


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