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

doi:10.3390/drones7020142

CIOMP OpenIR

	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
	2023
发表期刊	Drones
卷号	7 期号:2 页码:29
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.
DOI	10.3390/drones7020142
URL	查看原文
收录类别	sci
语种	英语
引用统计
文献类型	期刊论文
条目标识符	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.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
Trajectory Planning （8735KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览下载