Motion Planning and Task Assignment for Unmanned Aerial Vehicles Cooperating with Unattended Ground Sensors
Final rept. 10 Aug 2012-9 Aug 2014
TECHNION RESEARCH AND DEVELOPMENT FOUNDATION LTD HAIFA (ISRAEL)
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In this research we focused on intertwined low-level motion planning and high-level task assignment for a cooperating team of heterogeneous unmanned assets. As a case study we are envisioning the scenario where a team of unmanned aerial vehicles UAVs has to query a set of unattended ground sensors UGSs, positioned along a road network. In such a scenario the UAV team cooperates in searching and prosecuting ground target intruders, identified by the ground sensors. Of particular interest to us was the cooperation and coordination between the unmanned aerial vehicles in devising their assignments and trajectories. The research was conducted in two phases. In the first phase we have concentrated on the motion planning and task assignment aspects of the problem where a single UAV has to decide on the query ordering of the UGSs, given constraints on its motion. This problem was formalized as the Dubins travelling salesman problem TSP. In the second phase of the research we have paid special attention to the coupled motion planning and task assignment problem for groups of UAVs and UGSs. The specific problem considered includes allocating the group of UAVs to a given set of UGSs while accounting for the vehicles kinematic constraints and avoiding collision with obstacles scattered in the vehicles environment.
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