| Issue |
MATEC Web Conf.
Volume 388, 2023
2023 RAPDASA-RobMech-PRASA-AMI Conference Advanced Manufacturing Beyond Borders - The 24th Annual International RAPDASA Conference joined by RobMech, PRASA and AMI, hosted by CSIR and CUT
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|---|---|---|
| Article Number | 04011 | |
| Number of page(s) | 21 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202338804011 | |
| Published online | 15 December 2023 | |
Autonomous navigation for multiple unmanned aerial vehicles (UAVs) in urban environments
Department of Electrical and Electronic Engineering, Stellenbosch University, South Africa
* Corresponding author: 21712662@sun.ac.za
This paper presents an autonomous navigation system for multiple unmanned aerial vehicles (UAVs) in urban environments. The navigation system comprises a long-term route planner and a short-term cooperative collision avoidance function. A 3D model of a real urban terrain is used to represent the environment within which the UAVs operate, and the system takes the motion constraints of the UAVs into account when performing planning. The navigation system enables multiple independent UAVs to travel from their departure points to their destinations while predicting and avoiding collisions with one another and with static terrain. Monte Carlo simulations on the system indicate a worst-case route planner replan rate of 11.65 %, route planner failure rate of 9.82×10-4 %, and collision resolution failure rate of 0.12 % for the collision avoidance function.
© The Authors, published by EDP Sciences, 2023
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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