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An Integral Framework of Task Assignment and Path Planning for Multiple Unmanned Aerial Vehicles in Dynamic Environments

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Abstract

In this paper, a hierarchical framework for task assignment and path planning of multiple unmanned aerial vehicles (UAVs) in a dynamic environment is presented. For multi-agent scenarios in dynamic environments, a candidate algorithm should be able to replan for a new path to perform the updated tasks without any collision with obstacles or other agents during the mission. In this paper, we propose an intersection-based algorithm for path generation and a negotiation-based algorithm for task assignment since these algorithms are able to generate admissible paths at a smaller computing cost. The path planning algorithm is also augmented with a potential field-based trajectory replanner, which solves for a detouring trajectory around other agents or pop-up obstacles. For validation, test scenarios for multiple UAVs to perform cooperative missions in dynamic environments are considered. The proposed algorithms are implemented on a fixed-wing UAVs testbed in outdoor environment and showed satisfactory performance to accomplish the mission in the presence of static and pop-up obstacles and other agents.

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Authors and Affiliations

  1. Department of Aerospace and Mechanical Engineering, Korea Air Force Academy, Cheongju, South Korea

    Sangwoo Moon

  2. CNS/ATM & Satellite Navigation Research Center, Korea Aerospace Research Institute, Daejeon, South Korea

    Eunmi Oh

  3. Department of Aerospace Engineering, KAIST, Daejeon, South Korea

    David Hyunchul Shim

Authors
  1. Sangwoo Moon
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  2. Eunmi Oh
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  3. David Hyunchul Shim
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Corresponding author

Correspondence to David Hyunchul Shim.

Additional information

This work was supported in part by the Korea National Research Foundation Grant 20110015377.

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Moon, S., Oh, E. & Shim, D.H. An Integral Framework of Task Assignment and Path Planning for Multiple Unmanned Aerial Vehicles in Dynamic Environments. J Intell Robot Syst 70, 303–313 (2013). https://doi.org/10.1007/s10846-012-9740-3

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  • DOI: https://doi.org/10.1007/s10846-012-9740-3

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