Collision Avoidance for Multiple UAVs using Rolling-horizon Policy

This paper addresses the problem of collision avoidance in scenarios with multiple aerial vehicles and proposes a method based on a Legendre pseudospectral collocation in order to compute the solution trajectories and guarantee that the safety distance between them is always maintained. The method u...

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Detalles Bibliográficos
Autores: Vera Rendón, Santiago, Heredia Benot, Guillermo, Ollero Baturone, Aníbal
Tipo de recurso: artículo
Estado:Versión enviada para evaluación y publicación
Fecha de publicación:2016
País:España
Institución:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/71343
Acceso en línea:https://hdl.handle.net/11441/71343
Access Level:acceso abierto
Palabra clave:UAV's
Collision
Rolling horizon
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spelling Collision Avoidance for Multiple UAVs using Rolling-horizon PolicyVera Rendón, SantiagoHeredia Benot, GuillermoOllero Baturone, AníbalUAV'sCollisionRolling horizonThis paper addresses the problem of collision avoidance in scenarios with multiple aerial vehicles and proposes a method based on a Legendre pseudospectral collocation in order to compute the solution trajectories and guarantee that the safety distance between them is always maintained. The method uses a rolling horizon policy in which trajectories are planned up to a given time horizon, thus considering a much smaller problem space. Then, the system is applied iteratively. Studies have been performed to set the values of the look-ahead time and the number of collocations points. The computational load and scalability of the method are also studied in randomly generated scenarios to test its application in real time. Experiments have been also carried out in the multivehicle aerial testbed of the Center for Advanced Aerospace Technologies (Seville, Spain)Comisión europea FP7 ICTMinisterio de Ciencia e Innovación DPI2011-28937-C02-01SpringerIngeniería de Sistemas y AutomáticaTEP151: Robotica, Vision y ControlEuropean Union (UE). FP7Ministerio de Ciencia e Innovación (MICIN). España2016info:eu-repo/semantics/articleinfo:eu-repo/semantics/submittedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/71343reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésJournal of Intelligent & Robotic Systems, 84 (1-4), 387-396.FP7 ICTDPI2011-28937-C02-01https://link.springer.com/article/10.1007%2Fs10846-015-0291-2info:eu-repo/semantics/openAccessoai:idus.us.es:11441/713432026-06-17T12:51:07Z
dc.title.none.fl_str_mv Collision Avoidance for Multiple UAVs using Rolling-horizon Policy
title Collision Avoidance for Multiple UAVs using Rolling-horizon Policy
spellingShingle Collision Avoidance for Multiple UAVs using Rolling-horizon Policy
Vera Rendón, Santiago
UAV's
Collision
Rolling horizon
title_short Collision Avoidance for Multiple UAVs using Rolling-horizon Policy
title_full Collision Avoidance for Multiple UAVs using Rolling-horizon Policy
title_fullStr Collision Avoidance for Multiple UAVs using Rolling-horizon Policy
title_full_unstemmed Collision Avoidance for Multiple UAVs using Rolling-horizon Policy
title_sort Collision Avoidance for Multiple UAVs using Rolling-horizon Policy
dc.creator.none.fl_str_mv Vera Rendón, Santiago
Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author Vera Rendón, Santiago
author_facet Vera Rendón, Santiago
Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author_role author
author2 Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author2_role author
author
dc.contributor.none.fl_str_mv Ingeniería de Sistemas y Automática
TEP151: Robotica, Vision y Control
European Union (UE). FP7
Ministerio de Ciencia e Innovación (MICIN). España
dc.subject.none.fl_str_mv UAV's
Collision
Rolling horizon
topic UAV's
Collision
Rolling horizon
description This paper addresses the problem of collision avoidance in scenarios with multiple aerial vehicles and proposes a method based on a Legendre pseudospectral collocation in order to compute the solution trajectories and guarantee that the safety distance between them is always maintained. The method uses a rolling horizon policy in which trajectories are planned up to a given time horizon, thus considering a much smaller problem space. Then, the system is applied iteratively. Studies have been performed to set the values of the look-ahead time and the number of collocations points. The computational load and scalability of the method are also studied in randomly generated scenarios to test its application in real time. Experiments have been also carried out in the multivehicle aerial testbed of the Center for Advanced Aerospace Technologies (Seville, Spain)
publishDate 2016
dc.date.none.fl_str_mv 2016
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/submittedVersion
format article
status_str submittedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/71343
url https://hdl.handle.net/11441/71343
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Journal of Intelligent & Robotic Systems, 84 (1-4), 387-396.
FP7 ICT
DPI2011-28937-C02-01
https://link.springer.com/article/10.1007%2Fs10846-015-0291-2
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300719

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