Towards Autonomous Operation of UAVs Using Data-Driven Target Tracking and Dynamic, Distributed Path Planning Methods
| dc.contributor.author | Choi, Jae-Young | en |
| dc.contributor.author | Prasad, Rachit | en |
| dc.contributor.author | Choi, Seongim | en |
| dc.date.accessioned | 2024-10-01T12:54:41Z | en |
| dc.date.available | 2024-10-01T12:54:41Z | en |
| dc.date.issued | 2024-09-03 | en |
| dc.date.updated | 2024-09-27T13:18:17Z | en |
| dc.description.abstract | A hybrid real-time path planning method has been developed that employs data-driven target UAV trajectory tracking methods. It aims to autonomously manage the distributed operation of multiple UAVs in dynamically changing environments. The target tracking methods include a Gaussian mixture model, a long short-term memory network, and extended Kalman filters with pre-specified motion models. Real-time vehicle-to-vehicle communication is assumed through a cloud-based system, enabling virtual, dynamic local networks to facilitate the high demand of vehicles in airspace. The method generates optimal paths by adaptively employing the dynamic <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mi>A</mi><mo>*</mo></msup></semantics></math></inline-formula> algorithm and the artificial potential field method, with minimum snap trajectory smoothing to enhance path trackability during real flights. For validation, software-in-the-loop testing is performed in a dynamic environment composed of multiple quadrotors. The results demonstrate the framework’s ability to generate real-time, collision-free flight paths at low computational costs. | en |
| dc.description.version | Published version | en |
| dc.format.mimetype | application/pdf | en |
| dc.identifier.citation | Choi, J.-Y.; Prasad, R.; Choi, S. Towards Autonomous Operation of UAVs Using Data-Driven Target Tracking and Dynamic, Distributed Path Planning Methods. Aerospace 2024, 11, 720. | en |
| dc.identifier.doi | https://doi.org/10.3390/aerospace11090720 | en |
| dc.identifier.uri | https://hdl.handle.net/10919/121239 | en |
| dc.language.iso | en | en |
| dc.publisher | MDPI | en |
| dc.rights | Creative Commons Attribution 4.0 International | en |
| dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | en |
| dc.subject | UTM | en |
| dc.subject | UAS dynamic | en |
| dc.subject | distributed path planning | en |
| dc.subject | data-driven target tracking | en |
| dc.subject | software-in-the-loop | en |
| dc.title | Towards Autonomous Operation of UAVs Using Data-Driven Target Tracking and Dynamic, Distributed Path Planning Methods | en |
| dc.title.serial | Aerospace | en |
| dc.type | Article - Refereed | en |
| dc.type.dcmitype | Text | en |