Collision Avoidance Effects on the Mobility of a UAV Swarm Using Chaotic Ant Colony with Model Predictive Control - Archive ouverte HAL Access content directly
Journal Articles Journal of Intelligent and Robotic Systems Year : 2019

Collision Avoidance Effects on the Mobility of a UAV Swarm Using Chaotic Ant Colony with Model Predictive Control

Abstract

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.
Fichier principal
Vignette du fichier
dentler2018collision.pdf (2.67 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01774001 , version 1 (23-04-2018)

Identifiers

Cite

Jan Dentler, Martin Rosalie, Grégoire Danoy, Pascal Bouvry, Somasundar Kannan, et al.. Collision Avoidance Effects on the Mobility of a UAV Swarm Using Chaotic Ant Colony with Model Predictive Control. Journal of Intelligent and Robotic Systems, 2019, 93, pp.227-243. ⟨10.1007/s10846-018-0822-8⟩. ⟨hal-01774001⟩

Collections

INSMI TDS-MACS
133 View
538 Download

Altmetric

Share

Gmail Facebook Twitter LinkedIn More