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A Collision-Free Drone Scheduling System
Title
A Collision-Free Drone Scheduling System.
Creator
Steinberg, Andrew, Cardei, Mihaela, Florida Atlantic University, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description
Today, drones have been receiving a lot of notice from commercial businesses. Businesses (mainly companies that have delivery services) are trying to expand their productivity in order bring more satisfaction for their loyal customers. One-way companies can expand their delivery services are through the use of delivery drones. Drones are very powerful devices that are going through many evolutionary changes for their uses throughout the years. For many years, researchers in academia have been...
Show moreToday, drones have been receiving a lot of notice from commercial businesses. Businesses (mainly companies that have delivery services) are trying to expand their productivity in order bring more satisfaction for their loyal customers. One-way companies can expand their delivery services are through the use of delivery drones. Drones are very powerful devices that are going through many evolutionary changes for their uses throughout the years. For many years, researchers in academia have been examining how drones can plan their paths along with avoiding collisions of other drones and certain obstacles in the civil airspace. However, researchers have not considered how the motion path planning can a ect the overall scheduling aspect of civilian drones. In this thesis, we propose an algorithm for a collision-free scheduling motion path planning of a set drones such that they avoid certain obstacles as well as maintaining a safety distance from each other.
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Date Issued
2017
PURL
http://purl.flvc.org/fau/fd/FA00004994, http://purl.flvc.org/fau/fd/FA00004984
Subject Headings
Dissertations, Academic -- Florida Atlantic University, Drone aircraft., Algorithms., Scheduling., Drone aircraft--Safety measures.
Format
Document (PDF)
PATH PLANNING ALGORITHMS FOR UNMANNED AIRCRAFT SYSTEMS WITH A SPACE-TIME GRAPH
Title
PATH PLANNING ALGORITHMS FOR UNMANNED AIRCRAFT SYSTEMS WITH A SPACE-TIME GRAPH.
Creator
Steinberg, Andrew, Cardei, Mihaela, Cardei, Ionut, Florida Atlantic University, Department of Computer and Electrical Engineering and Computer Science, College of Engineering and Computer Science
Abstract/Description
Unmanned Aircraft Systems (UAS) have grown in popularity due to their widespread potential applications, including efficient package delivery, monitoring, surveillance, search and rescue operations, agricultural uses, along with many others. As UAS become more integrated into our society and airspace, it is anticipated that the development and maintenance of a path planning collision-free system will become imperative, as the safety and efficiency of the airspace represents a priority. The...
Show moreUnmanned Aircraft Systems (UAS) have grown in popularity due to their widespread potential applications, including efficient package delivery, monitoring, surveillance, search and rescue operations, agricultural uses, along with many others. As UAS become more integrated into our society and airspace, it is anticipated that the development and maintenance of a path planning collision-free system will become imperative, as the safety and efficiency of the airspace represents a priority. The dissertation defines this problem as the UAS Collision-free Path Planning Problem. The overall objective of the dissertation is to design an on-demand, efficient and scalable aerial highway path planning system for UAS. The dissertation explores two solutions to this problem. The first solution proposes a space-time algorithm that searches for shortest paths in a space-time graph. The solution maps the aerial traffic map to a space-time graph that is discretized on the inter-vehicle safety distance. This helps compute safe trajectories by design. The mechanism uses space-time edge pruning to maintain the dynamic availability of edges as vehicles move on a trajectory. Pruning edges is critical to protect active UAS from collisions and safety hazards. The dissertation compares the solution with another related work to evaluate improvements in delay, run time scalability, and admission success while observing up to 9000 flight requests in the network. The second solution to the path planning problem uses a batch planning algorithm. This is a new mechanism that processes a batch of flight requests with prioritization on the current slack time. This approach aims to improve the planning success ratio. The batch planning algorithm is compared with the space-time algorithm to ascertain improvements in admission ratio, delay ratio, and running time, in scenarios with up to 10000 flight requests.
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Date Issued
2021
PURL
http://purl.flvc.org/fau/fd/FA00013696
Subject Headings
Unmanned aerial vehicles, Drone aircraft, Drone aircraft--Automatic control, Space and time, Algorithms
Format
Document (PDF)