Path Planning for UAVs Under Communication Constraints Using SPLAT! and MILP

Authors:
Esten Ingar Grøtli;Tor Arne Johansen
Affiliations:
Department of Engineering Cybernetics, O.S. Bragstads plass 2D, Trondheim, Norway 7491;Department of Engineering Cybernetics, O.S. Bragstads plass 2D, Trondheim, Norway 7491
Venue:
Journal of Intelligent and Robotic Systems
Year:
2012

Citing 14
Cited 2

Towards mobility as a network control primitive

Proceedings of the 5th ACM international symposium on Mobile ad hoc networking and computing
Experimental evaluation of wireless simulation assumptions

MSWiM '04 Proceedings of the 7th ACM international symposium on Modeling, analysis and simulation of wireless and mobile systems
Impact of radio propagation models in vehicular ad hoc networks simulations

Proceedings of the 3rd international workshop on Vehicular ad hoc networks
The effect of the radio wave propagation model in mobile ad hoc networks

Proceedings of the 9th ACM international symposium on Modeling analysis and simulation of wireless and mobile systems
Optimal control of multi-vehicle-systems under communication constraints using mixed-integer linear programming

Proceedings of the 1st international conference on Robot communication and coordination
Multiple UAVs path planning algorithms: a comparative study

Fuzzy Optimization and Decision Making
Networking Issues for Small Unmanned Aircraft Systems

Journal of Intelligent and Robotic Systems
Automatic algorithm configuration based on local search

AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
Evaluation of an OPNET model for unmanned aerial vehicle (UAV) networks

SpringSim '09 Proceedings of the 2009 Spring Simulation Multiconference
An Overview of MANETs Simulation

Electronic Notes in Theoretical Computer Science (ENTCS)
Minimum cost configuration of relay and channel infrastructure in heterogeneous wireless mesh networks

NETWORKING'07 Proceedings of the 6th international IFIP-TC6 conference on Ad Hoc and sensor networks, wireless networks, next generation internet
Optimality bounds of the connectivity of adhoc networks with beamforming antennas

GLOBECOM'09 Proceedings of the 28th IEEE conference on Global telecommunications
Iterative MILP methods for vehicle-control problems

IEEE Transactions on Robotics
Control of systems integrating logic, dynamics, and constraints

Automatica (Journal of IFAC)

Generation of Bezier Curve-Based Flyable Trajectories for Multi-UAV Systems with Parallel Genetic Algorithm

Journal of Intelligent and Robotic Systems
Position Unmanned Aerial Vehicles in the Mobile Ad Hoc Network

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

We will in this paper address the problem of offline path planning for Unmanned Aerial Vehicles (UAVs). Our goal is to find paths that meet mission objectives, are safe with respect to collision and grounding, fuel efficient and satisfy criteria for communication. Due to the many nonconvex constraints of the problem, Mixed Integer Linear Programming (MILP) will be used in finding the path. Approximate communication constraints and terrain avoidance constraints are used in the MILP formulation. To achieve more accurate prediction of the ability to communicate, the path is then analyzed in the radio propagation toolbox SPLAT!, and if the UAVs are not able to communicate according to design criteria for bandwidth, constraints are modified in the optimization problem in an iterative manner. The approach is exemplified with the following setup: The path of two UAVs are planned so they can serve as relay nodes between a target without line of sight to the base station.