当前位置: X-MOL 学术Intel. Serv. Robotics › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Flocks formation model for self-interested UAVs
Intelligent Service Robotics ( IF 2.5 ) Pub Date : 2021-03-01 , DOI: 10.1007/s11370-021-00354-x
Rina Azoulay , Shulamit Reches

In recent years, unmanned aerial vehicles (UAVs) have been used in a wide range of domains. As the number of UAV flights increases, central flight areas may become overcrowded. This may cause delays in UAV traffic or gridlock on UAV routes. To address this challenge, we propose a flocking protocol that enables individual UAVs to optimize their flight preferences, while receiving the benefits of traveling in a group. Flocking can reduce overcrowding, and as a result, UAVs will be able to travel on less congested routes and have fewer encounters with other UAVs, thus reducing flight time and conserving energy. The protocol allows each UAV to create a flock or join an existing flock for all or part of its journey. We perform a simulation of UAV flights in an urban area and compare the average flight time of the UAVs based on various flight situations (e.g., different routes and participation in groups of UAVs). The simulation results demonstrate that the use of the flocking protocol significantly reduced the average flight time, and the flight saving rate increased with an increase in the UAV mean number. A similar effect is also observed in situations where each UAV and flock formed a dynamic A*-based path in advance to avoid collisions.



中文翻译:

自私无人机的机群形成模型

近年来,无人飞行器(UAV)已在广泛的领域中使用。随着无人机飞行次数的增加,中央飞行区域可能变得人满为患。这可能会导致无人机流量延迟或无人机路线上的死锁。为了应对这一挑战,我们提出了一种植绒协议,该协议使单个无人机能够优化其飞行偏好,同时获得团体旅行的好处。羊群可以减少人满为患,因此,无人机将能够在较少拥挤的路线上行驶,并且与其他无人机的接触更少,从而减少了飞行时间并节省了能源。该协议允许每个无人机在其全部或部分旅程中创建一个羊群或加入一个现有的羊群。我们对市区内的无人机飞行进行模拟,并根据各种飞行情况(例如,不同的路线和各组无人机的参与情况)比较无人机的平均飞行时间。仿真结果表明,采用植绒协议可以显着减少平均飞行时间,并且随着无人飞行器平均数的增加,飞行节省率也随之提高。在每个无人机和机群预先形成动态的基于A *的路径以避免碰撞的情况下,也会观察到类似的效果。

更新日期:2021-03-02
down
wechat
bug