Trajectory Planning for Multiple UAVs and Hierarchical Collision Avoidance Based on Nonlinear Kalman Filters

doi:10.3390/drones7020142

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	Trajectory Planning for Multiple UAVs and Hierarchical Collision Avoidance Based on Nonlinear Kalman Filters
	W. Hematulin; P. Kamsing; P. Torteeka; T. Somjit; T. Phisannupawong and T. Jarawan
刊名	Drones
	2023
卷号	7 期号:2 页码:29
DOI	10.3390/drones7020142
英文摘要	Fully autonomous trajectory planning for multiple unmanned aerial vehicles (UAVs) is significant for building the next generation of the logistics industry without human control. This paper presents a method to enable multiple UAVs to fly in the same trajectory without collision. It benefits several applications, such as smart cities and transfer goods, during the COVID-19 pandemic. Different types of nonlinear state estimation are deployed to test the position estimation of drones by treating the information from AirSim as offline dynamic data. The obtained global positioning system sensor data and magnetometer sensor data are determined as the measurement model. The experiment in the simulation is separated into (1) the localization state, (2) the rendezvous state, in which the proposed rendezvous strategy is presented by using the relation between velocity and displacement through the setting area, and (3) the full mission state, which combines both the localization and rendezvous states. The localization state results show the best RMSE in the case of full GPS available at 0.21477 m and 0.25842 m in the case of a GPS outage during a period of time by implementing the ensemble Kalman filter. Similarly, the ensemble Kalman filter performs well with an RMSE of 0.5112414 m in the rendezvous state and demonstrates exceptional performance in the full mission state. Moreover, the experiment is implemented in a real-world situation with some basic drone kits as proof that the proposed rendezvous strategy can truly operate.
URL标识	查看原文
语种	英语
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/67523]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	W. Hematulin,P. Kamsing,P. Torteeka,et al. Trajectory Planning for Multiple UAVs and Hierarchical Collision Avoidance Based on Nonlinear Kalman Filters[J]. Drones,2023,7(2):29.
APA	W. Hematulin,P. Kamsing,P. Torteeka,T. Somjit,&T. Phisannupawong and T. Jarawan.(2023).Trajectory Planning for Multiple UAVs and Hierarchical Collision Avoidance Based on Nonlinear Kalman Filters.Drones,7(2),29.
MLA	W. Hematulin,et al."Trajectory Planning for Multiple UAVs and Hierarchical Collision Avoidance Based on Nonlinear Kalman Filters".Drones 7.2(2023):29.