3D path planning and real-time collision resolution of multirotor drone operations in complex urban low-altitude airspace
Drones have been greatly developed to facilitate the progress of various industries. The safe operation of drones in the urban airspace is critical to ensure a reliable and high-efficient urban air traffic system. This work presents a fusion scheme to achieve autonomous drone collision-free path...
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sg-ntu-dr.10356-1512892021-07-17T20:10:22Z 3D path planning and real-time collision resolution of multirotor drone operations in complex urban low-altitude airspace Zhang, Na Zhang, Mingcheng Low, Kin Huat School of Mechanical and Aerospace Engineering Air Traffic Management Research Institute Engineering::Aeronautical engineering Static Obstacles Dynamic Threats Drones have been greatly developed to facilitate the progress of various industries. The safe operation of drones in the urban airspace is critical to ensure a reliable and high-efficient urban air traffic system. This work presents a fusion scheme to achieve autonomous drone collision-free path planning considering static obstacles and dynamic threats detected. Firstly, a 3D voxel jump point search (JPS) based path planning model is developed to generate the static collision-free reference path. With the optimization, the reference path is then de-diagonalized, recon- structed, and smoothed to obtain the desired path. Subsequently, a local collision resolution method is proposed to avoid near mid-air collision of the dynamic threats. The method is based on the Markov decision process (MDP) to implement real-time dynamic collision avoidance. Simu- lations are conducted to verify the performance of the proposed model. The simulation results demonstrate that the proposed model is effective to achieve the autonomous path planning and real-time collision resolution of multirotor drones. Civil Aviation Authority of Singapore (CAAS) Ministry of Education (MOE) Nanyang Technological University Accepted version This research is supported by the MoE Tier-1 project research grant 2018-T1-002-124, and in part by the Civil Aviation Authority of Singapore (CAAS) and the Nanyang Technological University, Singapore under their collaboration in the Air Traffic Management Research Institute (ATMRI). Any opinions, findings, and or recommendations expressed in this material are those of the authors and do not reflect the views of the CAAS and the ATMRI. 2021-07-16T01:59:26Z 2021-07-16T01:59:26Z 2021 Journal Article Zhang, N., Zhang, M. & Low, K. H. (2021). 3D path planning and real-time collision resolution of multirotor drone operations in complex urban low-altitude airspace. Transportation Research Part C: Emerging Technologies, 129, 103123-. https://dx.doi.org/10.1016/j.trc.2021.103123 0968-090X https://hdl.handle.net/10356/151289 10.1016/j.trc.2021.103123 129 103123 en 2018-T1-002-124 Transportation Research Part C: Emerging Technologies © 2021 Elsevier Ltd. All rights reserved. This paper was published in Transportation Research Part C: Emerging Technologies and is made available with permission of Elsevier Ltd. application/pdf |
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Engineering::Aeronautical engineering Static Obstacles Dynamic Threats Zhang, Na Zhang, Mingcheng Low, Kin Huat 3D path planning and real-time collision resolution of multirotor drone operations in complex urban low-altitude airspace |
description |
Drones have been greatly developed to facilitate the progress of various industries. The safe
operation of drones in the urban airspace is critical to ensure a reliable and high-efficient urban
air traffic system. This work presents a fusion scheme to achieve autonomous drone collision-free
path planning considering static obstacles and dynamic threats detected. Firstly, a 3D voxel jump
point search (JPS) based path planning model is developed to generate the static collision-free
reference path. With the optimization, the reference path is then de-diagonalized, recon-
structed, and smoothed to obtain the desired path. Subsequently, a local collision resolution
method is proposed to avoid near mid-air collision of the dynamic threats. The method is based on
the Markov decision process (MDP) to implement real-time dynamic collision avoidance. Simu-
lations are conducted to verify the performance of the proposed model. The simulation results
demonstrate that the proposed model is effective to achieve the autonomous path planning and
real-time collision resolution of multirotor drones. |
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School of Mechanical and Aerospace Engineering |
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School of Mechanical and Aerospace Engineering Zhang, Na Zhang, Mingcheng Low, Kin Huat |
format |
Article |
author |
Zhang, Na Zhang, Mingcheng Low, Kin Huat |
author_sort |
Zhang, Na |
title |
3D path planning and real-time collision resolution of multirotor drone operations in complex urban low-altitude airspace |
title_short |
3D path planning and real-time collision resolution of multirotor drone operations in complex urban low-altitude airspace |
title_full |
3D path planning and real-time collision resolution of multirotor drone operations in complex urban low-altitude airspace |
title_fullStr |
3D path planning and real-time collision resolution of multirotor drone operations in complex urban low-altitude airspace |
title_full_unstemmed |
3D path planning and real-time collision resolution of multirotor drone operations in complex urban low-altitude airspace |
title_sort |
3d path planning and real-time collision resolution of multirotor drone operations in complex urban low-altitude airspace |
publishDate |
2021 |
url |
https://hdl.handle.net/10356/151289 |
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1707050425929170944 |