Multi-objective offline and online path planning for UAVs under dynamic urban environment

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dc.contributor.authorSadallah, Nassim
dc.contributor.authorYahiaoui, Saïd
dc.contributor.authorBendjoudi, Ahcene
dc.contributor.authorNouali-Taboudjemat, Nadia
dc.date.accessioned2023-02-26T07:57:20Z
dc.date.available2023-02-26T07:57:20Z
dc.date.issued2022-03
dc.description.abstractThis paper presents a multi-objective hybrid path planning method MOHPP for unmanned aerial vehicles (UAVs) in urban dynamic environments. Several works have been proposed to find optimal or near-optimal paths for UAVs. However, most of them did not consider multiple decision criteria and/or dynamic obstacles. In this paper, we propose a multi-objective offline/online path planning method to compute an optimal collision-free path in dynamic urban environment, where two objectives are considered: the safety level and the travel time. First, we construct two models of obstacles; static and dynamic. The static obstacles model is based on Fast Marching Square (FM2) method to deal with the uncertainty of the geography map, and the unexpected dynamic obstacles model is constructed using the perception range and the safety distance of the UAV. Then, we develope a jointly offline and online search mechanism to retrieve the optimal path. The offline search is applied to find an optimal path vis-a-vis the static obstacles, while the online search is applied to quickly avoid unexpected dynamic obstacles. Several experiments have been performed to prove the efficiency of the proposed method. In addition, a Pareto front is extracted to be used as a tool for decision making.
dc.identifier.issn2366-5971
dc.identifier.issn2366-598X
dc.identifier.urihttps://dl.cerist.dz/handle/CERIST/962
dc.relation.ispartofseriesInternational Journal of Intelligent Robotics and Applications; 6(1)
dc.relation.pages119-138
dc.structureCalcul pervasif et mobile (Pervasive and Mobile Computing group)
dc.subjectUAV path planning
dc.subjectDynamic urban environment
dc.subjectFast Marching Square
dc.subjectDrone
dc.subjectMulti-objective path planning methods
dc.subjectMOHPP
dc.titleMulti-objective offline and online path planning for UAVs under dynamic urban environment
dc.typeArticle
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