Abstract
A trajectory planning system for a group of unmanned aerial vehicles (UAVs) designed for seismic exploration tasks is proposed. The developed system is capable of efficiently allocating tasks and planning trajectories even considering large state spaces. The system has low computation cost, considers possible failures of UAVs in the group and provides online trajectory replanning in case of possible collisions. Series of experiments were conducted on real UAVs and in the Gazebo simulation environment, which demonstrated the computational efficiency of the system: the time for distributing tasks among UAVs was 0.007 s, and the maximum time for calculating one trajectory was 0.103 s. A comparison of the proposed solution with other methods for 7 UAVs showed that in terms of the total task completion time, the system outperformed the ECBS-TA method by 1% and the PC-TAFF method by 0.05%. In terms of individual mission execution time, the system surpassed the ECBS-TA method in 6 out of 7 UAVs and PC-TAFF in 2 out of 7 UAVs. The conducted tests demonstrated the effectiveness of the developed solution and the feasibility of its use.
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The study was supported by the Russian Science Foundation grant No. 22–69-00231, https://rscf.ru/en/project/22-69-00231/.
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Saveliev, A., Anikin, D., Ronzhin, A., Erokhin, G., Agafonov, V. (2024). System for Placing Seismic Sensors Based on Actions of UAVs Group with Optimized Flight Plan. In: Ronzhin, A., Savage, J., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2024. Lecture Notes in Computer Science(), vol 14898. Springer, Cham. https://doi.org/10.1007/978-3-031-71360-6_25
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