Modeling Urban Environments for Communication-Aware UAV Swarm Path Planning

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/35871

Title: Modeling Urban Environments for Communication-Aware UAV Swarm Path Planning
Author: Christmann, H. Claus ; Johnson, Eric N.
Abstract: The presented work introduces a graph based approach to model urban (or otherwise cluttered) environments for UAS utilization beyond line-of-sight as well as out of direct R/F range of the operator's control station. Making the assumption that some a priori data of the environment is available, the proposed method uses a classification of obstacles with respect to their impact on UAV motion and R/F communication and generates continuously updateable graphs usable to compute traverseable paths for UAVs while maintaining R/F communication. Using a simulated urban scenario this work shows that the proposed modeling method allows to find reachable loiter or hover areas for UAVs in order to establish a multi-hop R/F communication link between a primary UAV and its remote operator by utilizing an overlay of motion (Voronoi based) and R/F (visibility based) specific mapping methods.
Description: Presented at the AIAA Modeling and Simulation Technologies Conference, Toronto, Ontario, Canada, August, 2010.
Type: Proceedings
URI: http://hdl.handle.net/1853/35871
Citation: Modeling Urban Environments for Communication-Aware UAV Swarm Path Planning. Claus Christmann, Eric N. Johnson. AIAA Modeling and Simulation Technologies Conference, Toronto, Ontario, Canada, August, 2010.
Date: 2010-08
Contributor: Georgia Institute of Technology. School of Aerospace Engineering
Publisher: Georgia Institute of Technology
American Institute of Aeronautics and Astronautics, Inc.
Subject: Unmanned aerial vehicles
Unmanned aerial systems

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