Multiple Lane UAV Corridor Planning for Urban Mobility System Applications

Challa, VR and Gupta, M and Ratnoo, A and Ghose, D (2021) Multiple Lane UAV Corridor Planning for Urban Mobility System Applications. In: 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021, 15-18 Jun 2021, Athens, pp. 1003-1009.

PDF ICUAS_2021.pdf - Published Version Restricted to Registered users only Download (4MB) | Request a copy

Abstract

The aim of this work is to achieve smooth multiple parallel paths (lanes) confined within a bounded volume (corridor) through controlled airspace in urban scenarios. The problem is formulated as two subproblems: cross-section planning and corridor planning. The corridor cross-section is optimized for minimizing the corridor width for the required number of parallel paths while taking into account the downwash effects. Corridor planning utilizes a modified A\ast algorithm for waypoint generation in conjunction with a logistic curve based path for smoothly connecting these waypoints while accounting for curvature limits of individual paths. Waypoint heading angles are optimized to find minimum length corridor. The work provides an optimal solution of corridor planning with the capability of accommodating multiple UAVs simultaneously. © 2021 IEEE.

Item Type:	Conference Paper
Publication:	2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Heading angles; Individual paths; Logistic curves; Multiple UAVs; Optimal solutions; Parallel path; Urban mobility; Urban scenarios, Unmanned aerial vehicles (UAV)
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	20 Nov 2021 11:35
Last Modified:	20 Nov 2021 11:35
URI:	http://eprints.iisc.ac.in/id/eprint/69896

Actions (login required)

View Item