Paper Info
Title
Collision Avoidance Effects on the Mobility of a UAV Swarm Using Chaotic Ant Colony with Model Predictive Control.
Abstract
The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance the area coverage of such UAV swarms, a novel mobility model has been presented in previous work, combining an Ant Colony algorithm with chaotic dynamics (CACOC). This work is extending CACOC by a Collision Avoidance (CA) mechanism and testing its efficiency in terms of area coverage by the UAV swarm. For this purpose, CACOC is used to compute UAV target waypoints which are tracked by model predictively controlled UAVs. The UAVs are represented by realistic motion models within the virtual robot experimentation platform (V-Rep). This environment is used to evaluate the performance of the proposed CACOC with CA algorithm in an area exploration scenario with 3 UAVs. Finally, its performance is analyzed using metrics.
Year
DOI
Venue
2019
10.1007/s10846-018-0822-8
Journal of Intelligent and Robotic Systems
Keywords
Field
DocType
Unmanned aerial vehicles, UAV, Swarm, Search & rescue, Area exploration, Chaotic ant colony optimization, Chaotic dynamics, Mobility model, Rössler system, CACOC, Area coverage, Collision avoidance, CA, Model predictive control, MPC, Coverage metric, Collision avoidance metric
Ant colony optimization algorithms,Swarm behaviour,Control theory,Model predictive control,Mobility model,Collision,Engineering,Chaotic,Ant colony,Area coverage
Journal
Volume
Issue
ISSN
93
1-2
1573-0409
Citations 
PageRank 
References 
3
0.43
14
Authors
7
Name
Order
Citations
PageRank
Jan Dentler130.43
Martin Rosalie2255.05
Grégoire Danoy323933.33
Pascal Bouvry449356.10
Kannan Somasundar5264.18
Miguel Olivares613111.35
Holger Voos7242.36