Collision Avoidance Effects on the Mobility of a UAV Swarm Using Chaotic Ant Colony with Model Predictive Control

The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance the area coverage of such UAV swarms, a novel mobility model has been presented in previous work, combining an Ant Colony algorithm with cha...

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Vydáno v:	Journal of intelligent & robotic systems Ročník 93; číslo 1-2; s. 227 - 243
Hlavní autoři:	Dentler, Jan, Rosalie, Martin, Danoy, Grégoire, Bouvry, Pascal, Kannan, Somasundar, Olivares-Mendez, Miguel A., Voos, Holger
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Dordrecht Springer Netherlands 01.02.2019 Springer Springer Nature B.V Springer Verlag
Témata:	Algorithms Analysis Ant colony optimization Artificial Intelligence Chaotic Dynamics Collision avoidance Collision dynamics Computer Science Control Drone aircraft Dynamical Systems Economic models Electrical Engineering Engineering Evacuations & rescues Experimentation Mathematics Mechanical Engineering Mechatronics Miniature aircraft Nonlinear Sciences Optimization Optimization and Control Performance evaluation Pheromones Predictive control Robot dynamics Robotics Robots Systems and Control Tracking Unmanned aerial vehicles Waypoints MPC Coverage metric Area exploration Chaotic dynamics UAV Swarm Model predictive control Chaotic ant colony optimization Collision avoidance metric CACOC Unmanned aerial vehicles Rössler system Collision avoidance Search & rescue Mobility model Area coverage CA
ISSN:	0921-0296, 1573-0409
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Abstract	The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance the area coverage of such UAV swarms, a novel mobility model has been presented in previous work, combining an Ant Colony algorithm with chaotic dynamics (CACOC). This work is extending CACOC by a Collision Avoidance (CA) mechanism and testing its efficiency in terms of area coverage by the UAV swarm. For this purpose, CACOC is used to compute UAV target waypoints which are tracked by model predictively controlled UAVs. The UAVs are represented by realistic motion models within the virtual robot experimentation platform (V-Rep). This environment is used to evaluate the performance of the proposed CACOC with CA algorithm in an area exploration scenario with 3 UAVs. Finally, its performance is analyzed using metrics.
AbstractList	The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance the area coverage of such UAV swarms, a novel mobility model has been presented in previous work, combining an Ant Colony algorithm with chaotic dynamics (CACOC). This work is extending CACOC by a Collision Avoidance (CA) mechanism and testing its efficiency in terms of area coverage by the UAV swarm. For this purpose, CACOC is used to compute UAV target waypoints which are tracked by model predictively controlled UAVs. The UAVs are represented by realistic motion models within the virtual robot experimentation platform (V-Rep). This environment is used to evaluate the performance of the proposed CACOC with CA algorithm in an area exploration scenario with 3 UAVs. Finally, its performance is analyzed using metrics. The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance the area coverage of such UAV swarms, a novel mobility model has been presented in previous work, combining an Ant Colony algorithm with chaotic dynamics (CACOC). This work is extending CACOC by a Collision Avoidance (CA) mechanism and testing its efficiency in terms of area coverage by the UAV swarm. For this purpose, CACOC is used to compute UAV target waypoints which are tracked by model predictively controlled UAVs. The UAVs are represented by realistic motion models within the virtual robot experimentation platform (V-Rep). This environment is used to evaluate the performance of the proposed CACOC with CA algorithm in an area exploration scenario with 3 UAVs. Finally, its performance is analyzed using metrics. Keywords Unmanned aerial vehicles * UAV * Swarm * Search & rescue * Area exploration * Chaotic ant colony optimization * Chaotic dynamics * Mobility model * Rossler system * CACOC * Area coverage * Collision avoidance * CA * Model predictive control * MPC * Coverage metric * Collision avoidance metric
Audience	Academic
Author	Dentler, Jan Olivares-Mendez, Miguel A. Voos, Holger Bouvry, Pascal Danoy, Grégoire Rosalie, Martin Kannan, Somasundar
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Cites_doi	10.12762/2014.AL08-11 10.1016/0375-9601(76)90101-8 10.1109/MED.2016.7535973 10.1145/2989275.2989281 10.1088/1751-8113/49/31/315101 10.1007/s10514-011-9267-7 10.1007/978-3-319-17765-6_18 10.1145/2815347.2815351 10.1109/icuas.2017.7991418 10.1109/ICWMC.2006.63 10.1109/IROS.2013.6696520 10.1177/0954410016647074 10.3390/machines2010013 10.1109/icca.2013.6564992 10.1109/CCA.2016.7587882 10.1016/j.swevo.2015.10.008 10.1109/techpos.2009.5412074 10.1002/rnc.1363 10.1007/s12555-009-0407-1 10.1016/j.cnsns.2012.07.017 10.1016/j.automatica.2003.11.005 10.1145/2508222.2508225 10.1007/978-3-642-18041-5_2 10.1016/j.cnsns.2012.06.009 10.1142/S2301385016500023 10.5772/26567 10.1109/HPCSim.2014.6903792 10.1016/j.procs.2013.05.436 10.1109/CCTA.2017.8062590
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Keywords	MPC Coverage metric Area exploration Chaotic dynamics UAV Swarm Model predictive control Chaotic ant colony optimization Collision avoidance metric CACOC Unmanned aerial vehicles Rössler system Collision avoidance Search & rescue Mobility model Area coverage CA
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Snippet	The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance...
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SubjectTerms	Algorithms Analysis Ant colony optimization Artificial Intelligence Chaotic Dynamics Collision avoidance Collision dynamics Computer Science Control Drone aircraft Dynamical Systems Economic models Electrical Engineering Engineering Evacuations & rescues Experimentation Mathematics Mechanical Engineering Mechatronics Miniature aircraft Nonlinear Sciences Optimization Optimization and Control Performance evaluation Pheromones Predictive control Robot dynamics Robotics Robots Systems and Control Tracking Unmanned aerial vehicles Waypoints
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Title	Collision Avoidance Effects on the Mobility of a UAV Swarm Using Chaotic Ant Colony with Model Predictive Control
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