Abstract
The previous research on path planning of the UAV-UGV heterogeneous robot system plan paths for both UAV and UGV without considering the UGV’s moving range or plan only the UAV’s path based on the given UGV’s path. In reality, the UGV should be restricted to drive in the road network, and the given UGV’s path is not necessarily the best UGV’s path. In the heterogeneous package delivery system considered in this paper, the UGV’s path was restricted to the road network and the UAV’s and UGV’s paths were optimized simultaneously to get the optimized paths. This paper proposed a two-stage strategy to solve the path planning problem by a hybrid algorithm of modified ant colony optimization and genetic algorithm. The simulation results show that the proposed method is feasible.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Klaučo, M., Blažek, S., Kvasnica, M.: An optimal path planning problem for heterogeneous multi-vehicle systems. Int. J. Appl. Math. Comput. Sci. 26(2), 297–308 (2016)
Garone, E., Determe, J.F., Naldi, R.: Generalized traveling salesman problem for carrier-vehicle systems. J. Guid. Control Dyn. 37(3), 766–774 (2014)
Grocholsky, B., Keller, J., Kumar, V., et al.: Cooperative air and ground surveillance. IEEE Robot. Autom. Mag. 13(3), 16–25 (2006)
Mathew, N., Smith, S.L., Waslander, S.L.: Planning paths for package delivery in heterogeneous multirobot teams. IEEE Trans. Autom. Sci. Eng. 12(4), 1298–1308 (2015)
Li, J., Deng, G., Luo, C., et al.: A hybrid path planning method in unmanned air/ground vehicle (UAV/UGV) cooperative systems. IEEE Trans. Veh. Technol. 65(12), 9585–9596 (2016)
Martin, K., Slavomir, B., Michal, K., et al.: Mixed-integer SOCP formulation of the path planning problem for heterogeneous multi-vehicle systems. In: European Control Conference (ECC), pp. 1474–1479 (2014)
Chen, Y., Tan, Y., Cheng, L., et al.: Path planning for a heterogeneous aerial-ground robot system with neighbourhood constraints. Robot 39(1), 1–7 (2017). (in Chinese)
Freitas, J.C., Penna, P.H.V.: A variable neighborhood search for flying sidekick traveling salesman problem. arXiv:1804.03954v1 (2018)
Yu, H., Meier, K., Argyle, M., et al.: Cooperative path planning for target tracking in urban environments using unmanned air and ground vehicles. IEEE/ASME Trans. Mechatron. 20(2), 541–552 (2014)
Maini, P., Sundar, K., Rathinam, S., et al.: Cooperative planning for fuel-constrained aerial vehicles and ground-based refueling vehicles for large-scale coverage. arXiv:1805.04417v1 (2018)
Carlsson, J.G., Song, S.: Coordinated logistics with a truck and a drone. Manag. Sci. 64(9), 1–31 (2017)
Koji, A.O.S., Paulo, K.F., James, R.: Automatic battery replacement system for UAVs: analysis and design. J. Intell. Rob. Syst. 65(1–4), 563–586 (2012)
Swieringa, K.A., Hanson, C.B., Richardson, J.R., et al.: Autonomous battery swapping system for small-scale helicopters. In: IEEE International Conference on Robotics & Automation, pp. 3335–3340 (2010)
Gu, P., Xiu, C., Cheng, Y., et al.: Adaptive ant colony optimization algorithm. In: International Conference on Mechatronics and Control, pp. 95–98 (2014)
Oravec, J., Klaučo, M., Kvasnica, M., et al.: Optimal vehicle routing with interception of targets’ neighbourhoods. In: IEEE European Control Conference (ECC), pp. 2533–2538 (2015)
Acknowledgements
This work was partially supported by National Key Research and Development Program of China under grant No. 2017YFC0806503 and Natural Science Foundation of China (NSFC) under grant No. 61573263 and No. 61703314.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Chen, M., Chen, Y., Chen, Z., Yang, Y. (2019). Path Planning of UAV-UGV Heterogeneous Robot System in Road Network. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11745. Springer, Cham. https://doi.org/10.1007/978-3-030-27529-7_42
Download citation
DOI: https://doi.org/10.1007/978-3-030-27529-7_42
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-27528-0
Online ISBN: 978-3-030-27529-7
eBook Packages: Computer ScienceComputer Science (R0)