Multi-Objective Cooperated Path Planning of Multiple Unmanned Aerial Vehicles Based on Revisit Time

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dc.authoridasadi, davood/0000-0002-2066-6016
dc.contributor.authorHaghighi, Hassan
dc.contributor.authorAsadi, Davood
dc.contributor.authorDelahaye, Daniel
dc.date.accessioned2025-01-06T17:44:41Z
dc.date.available2025-01-06T17:44:41Z
dc.date.issued2021
dc.description.abstractThis paper investigates multi-objective optimization of coordinated patrolling flight of multiple unmanned aerial vehicles in the vicinity of terrain, while respecting their performance parameters. A new efficient modified A-star (A*) algorithm with a novel defined criterion known as individual revisit time cell value is introduced and extended to the whole area of the three-dimensional mountainous environment. As a contribution to solving tradeoffs in the optimization problem, revisit time is conjugated with other contrary costs effective in flight planning through Pareto analysis. By introducing the revisit time and applying a specific setup to mitigate computational complexity, the proposed algorithm efficiently revisits the desired zones, which are more important to be revisited during the patrolling mission. The results of the introduced modified A* algorithm are compared in various scenarios with two different algorithms: a complete and optimal algorithm known as Dijkstra, and an evolutionary algorithm known as the genetic algorithm. Simulation results demonstrate that the proposed algorithm generates faster and more efficient trajectories in complex multi-agent scenarios due to the introduced cell selection method and dynamic-based simplifications applied in this research.
dc.identifier.doi10.2514/1.I010866
dc.identifier.issn1940-3151
dc.identifier.issn2327-3097
dc.identifier.scopus2-s2.0-85121050796
dc.identifier.scopusqualityQ2
dc.identifier.urihttps://doi.org/10.2514/1.I010866
dc.identifier.urihttps://hdl.handle.net/20.500.14669/3154
dc.identifier.wosWOS:000888567900001
dc.identifier.wosqualityQ3
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherAmer Inst Aeronautics Astronautics
dc.relation.ispartofJournal of Aerospace Information Systems
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_20241211
dc.subjectUAV
dc.subjectPath Planning
dc.subjectMulti Objective Evolutionary Algorithms
dc.subjectMulti Objective Genetic Algorithm
dc.subjectFlight Planning
dc.subjectOptimization Algorithm
dc.subjectAlgorithms and Applications
dc.subjectFlight Altitude
dc.subjectAilerons
dc.subjectMarkov Decision Process
dc.titleMulti-Objective Cooperated Path Planning of Multiple Unmanned Aerial Vehicles Based on Revisit Time
dc.typeArticle

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