The aim of this work is to achieve smooth multiple parallel paths (lanes) confined within a bounded volume (corridor) through controlled airspace in urban scenarios. The problem is formulated as two subproblems: cross-section planning and corridor planning. The corridor cross-section is optimized for minimizing the corridor width for the required number of parallel paths while taking into account the downwash effects. Corridor planning utilizes a modified $A^{\ast}$ algorithm for waypoint generation in conjunction with a logistic curve based path for smoothly connecting these waypoints while accounting for curvature limits of individual paths. Waypoint heading angles are optimized to find minimum length corridor. The work provides an optimal solution of corridor planning with the capability of accommodating multiple UAVs simultaneously.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Multiple Lane UAV Corridor Planning for Urban Mobility System Applications


    Beteiligte:
    Challa, Vinay Reddy (Autor:in) / Gupta, Mohit (Autor:in) / Ratnoo, Ashwini (Autor:in) / Ghose, Debasish (Autor:in)


    Erscheinungsdatum :

    15.06.2021


    Format / Umfang :

    4719901 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Urban Green Corridor Planning

    Xu, X. / Ni, Y. L. / He, J. | British Library Conference Proceedings | 2015





    e-Mobility Forecast for the Transnational e-Corridor Planning

    Brenna, Morris / Foiadelli, Federica / Longo, Michela et al. | IEEE | 2016