Abstract
We present a three-dimensional (3D) intersection traffic management platform for small autonomous Unmanned Aerial Vehicles (UAVs), particularly quadcopters, in urban airspace. Assuming many autonomous UAVs are approaching a shared airspace, where UAVs have varying sources and destinations, we propose a system model for a 3D intersection that aims to provide safe and systematic management of UAVs. We also devised a scheduling scheme to ensure that the intersection is efficiently utilized and that there are no collisions among the UAVs in the intersection. The scheduling scheme applies the reservation-based approach, which is sensitive to the sequence of the UAVs in scheduling, thus genetic algorithm is used to determine the best sequence of the UAVs. Simulations were performed to evaluate the efficiency of the system. We also show through the simulations that our scheduling scheme reduces the UAVs’ average time in the system by 27 percent compared with when the UAVs are scheduled in a first-come, first-served manner for the highly crowded intersection.
Highlights
Unmanned Aerial Vehicles (UAVs) have been gaining interest due to their applications in various areas such as weather monitoring, law enforcement, agriculture, search and rescue, and communication networks [1,2]
We proposed an intersection structure in the sky where multiple UAVs can travel across an intersection safely
This paper is organized as follows: Section 2 introduces the related works on path planning of multiple UAVs; Section 3 discusses the system model, which includes the intersection structure and the overview of how the system works; Section 4 explains how the UAVs should move before they enter the intersection; Section 5 describes the allowed trajectories of the UAVs in the intersection; Section 6 discusses the scheduling scheme; Section 7 includes the analysis of the scheduling scheme; Section 8 discusses the simulation results; Section 9 concludes the paper
Summary
UAVs have been gaining interest due to their applications in various areas such as weather monitoring, law enforcement, agriculture, search and rescue, and communication networks [1,2]. A reservation-based scheduling approach is used to find the collision-free path in the intersection. To guarantee collision avoidance in the intersection, we implement the reservation-based scheduling introduced in [5]. This paper is organized as follows: Section 2 introduces the related works on path planning of multiple UAVs; Section 3 discusses the system model, which includes the intersection structure and the overview of how the system works; Section 4 explains how the UAVs should move before they enter the intersection; Section 5 describes the allowed trajectories of the UAVs in the intersection; Section 6 discusses the scheduling scheme; Section 7 includes the analysis of the scheduling scheme; Section 8 discusses the simulation results; Section 9 concludes the paper
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