Multi-UAV Search and Rescue with Enhanced A∗ Algorithm Path Planning in 3D Environment
The unmanned aerial vehicles (UAV) are now widely used in search and rescue (SAR) missions to locate casualties and survey terrain. To solve the problem of long calculation time and large memory usage of the UAV obstacle-avoidance path-planning algorithm in cooperative tasks, this paper proposes a m...
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| Format: | Article |
| Language: | English |
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Wiley
2023-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2023/8614117 |
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| author | Yuwen Du |
| author_facet | Yuwen Du |
| author_sort | Yuwen Du |
| collection | DOAJ |
| description | The unmanned aerial vehicles (UAV) are now widely used in search and rescue (SAR) missions to locate casualties and survey terrain. To solve the problem of long calculation time and large memory usage of the UAV obstacle-avoidance path-planning algorithm in cooperative tasks, this paper proposes a method that combines the A∗ algorithm and the task allocation algorithm to achieve a faster and more effective path-planning method. First, the environment is displayed in the form of a grid. Then, the enhanced algorithm divides the task area for UAVs. Finally, each UAV performs SAR path planning in the mission area. The tasks of mapping the environment and searching for target points by UAV swarms are discussed in this study. Our research enhances A∗ algorithms for generating the shortest collision-free paths for drone swarms. Further, we evaluate the algorithm via simulating the task assignment algorithm and path-planning algorithm of a 3D map and 2D map. Compared with the traditional A∗ algorithm, the results demonstrate that the enhanced algorithm is effective in the scenario. |
| format | Article |
| id | doaj-art-1119d44cfd234cab9cecffed6346d720 |
| institution | DOAJ |
| issn | 1687-5974 |
| language | English |
| publishDate | 2023-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-1119d44cfd234cab9cecffed6346d7202025-08-20T03:17:14ZengWileyInternational Journal of Aerospace Engineering1687-59742023-01-01202310.1155/2023/8614117Multi-UAV Search and Rescue with Enhanced A∗ Algorithm Path Planning in 3D EnvironmentYuwen Du0Department of Aerospace EngineeringThe unmanned aerial vehicles (UAV) are now widely used in search and rescue (SAR) missions to locate casualties and survey terrain. To solve the problem of long calculation time and large memory usage of the UAV obstacle-avoidance path-planning algorithm in cooperative tasks, this paper proposes a method that combines the A∗ algorithm and the task allocation algorithm to achieve a faster and more effective path-planning method. First, the environment is displayed in the form of a grid. Then, the enhanced algorithm divides the task area for UAVs. Finally, each UAV performs SAR path planning in the mission area. The tasks of mapping the environment and searching for target points by UAV swarms are discussed in this study. Our research enhances A∗ algorithms for generating the shortest collision-free paths for drone swarms. Further, we evaluate the algorithm via simulating the task assignment algorithm and path-planning algorithm of a 3D map and 2D map. Compared with the traditional A∗ algorithm, the results demonstrate that the enhanced algorithm is effective in the scenario.http://dx.doi.org/10.1155/2023/8614117 |
| spellingShingle | Yuwen Du Multi-UAV Search and Rescue with Enhanced A∗ Algorithm Path Planning in 3D Environment International Journal of Aerospace Engineering |
| title | Multi-UAV Search and Rescue with Enhanced A∗ Algorithm Path Planning in 3D Environment |
| title_full | Multi-UAV Search and Rescue with Enhanced A∗ Algorithm Path Planning in 3D Environment |
| title_fullStr | Multi-UAV Search and Rescue with Enhanced A∗ Algorithm Path Planning in 3D Environment |
| title_full_unstemmed | Multi-UAV Search and Rescue with Enhanced A∗ Algorithm Path Planning in 3D Environment |
| title_short | Multi-UAV Search and Rescue with Enhanced A∗ Algorithm Path Planning in 3D Environment |
| title_sort | multi uav search and rescue with enhanced a∗ algorithm path planning in 3d environment |
| url | http://dx.doi.org/10.1155/2023/8614117 |
| work_keys_str_mv | AT yuwendu multiuavsearchandrescuewithenhancedaalgorithmpathplanningin3denvironment |