Mission assignment and 3D path planning for a team of UAVs

被引：1

作者：

Hustiu, Sofia ^{[1
]}

Kloetzer, Marius ^{[1
]}

Mahulea, Cristian ^{[2
]}

机构：

[1] Gheorghe Asachi Tech Univ Iasi, Dept Automat Control & Appl Informat, Iasi, Romania

[2] Univ Zaragoza, Aragon Inst Engn Res, Zaragoza, Spain

来源：

2021 25TH INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC) | 2021年

关键词：

UAV; task assignment; path planning; MILP formulation;

D O I：

10.1109/ICSTCC52150.2021.9606861

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Significant topics for Unmanned Aerial Vehicle (UAV) flight are represented by path planning and task assignment in a 3D environment. In this paper we propose a mathematical formulation designed as a Mixed Integer Linear Programming (MILP) problem that couples the two mentioned topics. This optimization problem provides an optimal solution for a problem where multiple drones have to individually paint some regions of interest. Several constraints were defined based on energy and paint consumption, while the cost function is based on the time for completing the painting task. For the proposed solution, the impact of number of drones, number of regions of interest and the size of the graph modelling the environment, is asserted and visualized through numerical simulations.

引用

页码：401 / 406

页数：6

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