Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments

Area of Science:

• Robotics and Autonomous Systems
• Artificial Intelligence
• Aerospace Engineering

Background:

• Multi-unmanned aerial vehicle (UAV) systems are increasingly researched for coordinated operations in complex environments.
• Applications include search and rescue, facility inspection, delivery, and surveillance, often involving dangerous or tedious tasks for humans.

Purpose of the Study:

• To design, implement, and analyze a trajectory planning and collision avoidance strategy for multi-UAV systems operating in 3D environments.
• To address the need for coordinated and safe operation of UAVs in complex scenarios.

Main Methods:

• A comprehensive study of existing trajectory planning and collision avoidance techniques was conducted.
• An innovative strategy combining Fast Marching Square for trajectory planning and priority-based speed control for conflict resolution was proposed.
• Preventive measures were integrated to minimize potential conflicts between UAVs in a simulated 3D urban environment.

Main Results:

• The proposed algorithm was successfully implemented and evaluated in a simulated 3D urban environment.
• Performance was assessed using statistical measures collected during simulation runs, demonstrating the effectiveness of the strategy.

Conclusions:

• The developed strategy effectively enables coordinated multi-UAV operations in complex 3D environments.
• The combination of Fast Marching Square and priority-based speed control offers a robust solution for trajectory planning and collision avoidance in UAV systems.