Combining Collision Avoidance and Operator Workload Reduction with Cooperative Task Assignment and Path Planning (Preprint)

Abstract

This paper develops a method of assignment and path allocation that incorporates a priori collision avoidance and operator workload reduction in assigning multiple tasks to cooperative unmanned aerial vehicles (UAV). The problem is posed as a combinatorial optimization problem. A branch and bound tree search algorithm is implemented for a satisfying solution using a cost function that integrates distance traveled, proximity to other UAVs, and target visitation times. The results demonstrate that the assigned path is near optimal with respect to distance traveled, significantly increases the expected proximity distance to other UAVs, and significantly increases the difference between visitation times of targets. The algorithm runs in less than a tenth of a second allowing on the fly replanning.

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 2006
Accession Number
ADA464797

Entities

People

  • Corey J. Schumacher
  • Jeffery B. Saunders
  • Steven J. Rasmussen

Organizations

  • Air Force Research Laboratory

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Air Force
  • Air Force Facilities
  • Air Force Research Laboratories
  • Aircrafts
  • Algorithms
  • Autonomous Navigation
  • Collision Avoidance
  • Collisions
  • Control Systems
  • Equations
  • Government Procurement
  • Governments
  • Micro Air Vehicles
  • Military Research
  • Motion Planning
  • Unmanned Aerial Vehicles
  • Vehicles

Readers

  • Aerial Unmanned Vehicle Swarm Micro Periodontal Dentistry.
  • Operations Research
  • Space Exploration and Orbital Mechanics.

Technology Areas

  • Autonomy