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UAV swarm mission planning in dynamic environment using consensus-based bundle algorithm

Zhang, Yaozhong, Feng, Wencheng, Shi, Guoqing, Jiang, Frank, Chowdhury, Morshed and Ling, Sai Ho 2020, UAV swarm mission planning in dynamic environment using consensus-based bundle algorithm, Sensors, vol. 20, no. 8, pp. 1-21, doi: 10.3390/s20082307.

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Title UAV swarm mission planning in dynamic environment using consensus-based bundle algorithm
Author(s) Zhang, Yaozhong
Feng, Wencheng
Shi, Guoqing
Jiang, FrankORCID iD for Jiang, Frank orcid.org/0000-0003-3088-8525
Chowdhury, MorshedORCID iD for Chowdhury, Morshed orcid.org/0000-0002-2866-4955
Ling, Sai Ho
Journal name Sensors
Volume number 20
Issue number 8
Article ID 2307
Start page 1
End page 21
Total pages 21
Publisher MDPI
Place of publication Basel, Switzerland
Publication date 2020-04
ISSN 1424-8220
Keyword(s) Actuators
Sensors
UAV
improved CBBA
mission planning
Summary To solve the real-time complex mission-planning problem for Multiple heterogeneous Unmanned Aerial Vehicles (UAVs) in the dynamic environments, this paper addresses a new approach by effectively adapting the Consensus-Based Bundle Algorithms (CBBA) under the constraints of task timing, limited UAV resources, diverse types of tasks, dynamic addition of tasks, and real-time requirements. We introduce the dynamic task generation mechanism, which satisfied the task timing constraints. The tasks that require the cooperation of multiple UAVs are simplified into multiple sub-tasks to perform by a single UAV independently. We also introduce the asynchronous task allocation mechanism. This mechanism reduces the computational complexity of the algorithm and the communication time between UAVs. The partial task redistribution mechanism has been adopted for achieving the dynamic task allocation. The real-time performance of the algorithm is assured on the premise of optimal results. The feasibility and real-time performance of the algorithm are validated by conducting dynamic simulation experiments.
Language eng
DOI 10.3390/s20082307
Indigenous content off
Field of Research 0301 Analytical Chemistry
0906 Electrical and Electronic Engineering
HERDC Research category C1 Refereed article in a scholarly journal
Free to Read? Yes
Persistent URL http://hdl.handle.net/10536/DRO/DU:30136466

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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.