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Title: Coordinated road-network search route planning by a team of UAVs
Authors: Oh, Hyondong
Kim, Seungkeun
Tsourdos, Antonios
White, Brian A.
Keywords: Road-network search route
Dubins path
Unmanned aerial vehicles
Mixed integer linear programming
Auction negotiation
Issue Date: 2014
Publisher: © Taylor and Francis
Citation: OH, H. ... et al, 2014. Coordinated road-network search route planning by a team of UAVs. International Journal of Systems Science, 45 (5), pp.825-840.
Abstract: This paper presents a road-network search route planning algorithm by which multiple autonomous vehicles are able to efficiently visit every road identified in the map in the context of the Chinese postman problem. Since the typical Chinese postman algorithm can be applied solely to a connected road-network in which ground vehicles are involved, it is modified to be used for a general type of road map including unconnected roads as well as the operational and physical constraints of unmanned aerial vehicles (UAVs). For this, a multi-choice multi-dimensional knapsack problem is formulated to find an optimal solution minimising flight time and then solved via mixed integer linear programming. To deal with the dynamic constraints of the UAVs, the Dubins theory is used for path generation. In particular, a circular–circular–circular type of the Dubins path is exploited based on a differential geometry to guarantee that the vehicles follow the road precisely in a densely distributed road environment. Moreover, to overcome the computational burden of the multi-choice multi-dimensional knapsack algorithm, a nearest insertion and auction-based approximation algorithm is newly introduced. The properties and performance of the proposed algorithm are evaluated via numerical simulations operating on a real village map and randomly generated maps with different parameters.
Description: This is an Accepted Manuscript of an article published by Taylor & Francis Group in International Journal of Systems Science on 20 Dec 2012, available online at: http://www.tandfonline.com/10.1080/00207721.2012.737116
Version: Accepted for publication
DOI: 10.1080/00207721.2012.737116
URI: https://dspace.lboro.ac.uk/2134/16067
Publisher Link: http://dx.doi.org/10.1080/00207721.2012.737116
ISSN: 0020-7721
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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