Información del artículo
Resumen
La generación de trayectorias y la replanificación de las mismas en entornos hostiles para UAVs (Unmanned Aerial Vehicles) es una disciplina en auge. Los entornos hostiles se caracterizan por la presencia de amenazas, modeladas aquí como radares. Inicialmente se planifica una ruta. Si en vuelo surgen nuevas amenazas, la ruta inicial se replanifica. En ambos casos las rutas se obtienen mediante el algoritmo A*. Ante una replanificación el UAV toma una decisión sobre si continuar por la ruta inicial o por la replanificada. La teoría de la decisión multiatributo proporciona en este caso el mecanismo adecuado.
Palabras clave:
Unmanned Aerial Vehicles
plan de vuelo
replanificación
toma de decisiones
teoría de la utilidad
amenazas
riesgo
El Texto completo está disponible en PDF
Referencias
[Dogan, 2003]
A. Dogan.
Probabilistic approach in path planning for UAVs.
In: Proc. IEEE international symposium on intelligent control, Houston, TX, (2003),
[Eames, 2005]
A.M. Eames.
Enabling path planning and threat avoidance with wireless sensor networks.
PhD Thesis. Dpt. Electrical Engineering and Computer Science, Massachussets Institute of Technology, MA, (2005),
[Fraichard, 1999]
T. Fraichard.
Trajectory planning in a dynamic workspace: A ‘state-time space’ approach.
Advanced Robotics, 13 (1999), pp. 75-94
[Hao, 2004]
Hao, Y. (2004). A practical framework for formation planning and control of multiple unmanned ground vehicles. PhD Thesis. Dpt. Mechanical Engineering, University of Delaware, Newark, USA.
[Hespanha et al., 2001]
J.P. Hespanha, H.H. Kizilocak, Y.S. Ateskan.
Probabilistic map building for aircraft-tracking radars of the American Control Conference Proc..
Arlington, VA, (2001),
[Hussain et al., 2004]
T. Hussain, D. Montana, G. Vidaver.
Evolution-Based Deliberative Planning for Cooperating Unmmanned Ground Vehicles in a Dynamic Environment.
In: Proc. of the Genetic and Evolutionary Computation Conference. (GECCO’04), Seattle, WA, (2004),
[Jun and D’Andrea., 2002]
M. Jun, R. D’Andrea.
Path Planning for Unmanned Aerial Vehicles in uncertain and adversarial environments.
Cooperative Control: Models Applications and Algorithms, pp. 95-111
[Kabamba et al., 2006]
P.T. Kabamba, S.M. Merkov, F.H. Zeitz.
Optimal path planning for unmanned combat aerial vehicles to defeat radar tracking.
Journal of Guidance, Control and Dynamics, 29 (2006), pp. 279-288
[LaValle, 2006]
S.M. LaValle.
Planning Algorithms.
Cambridge University Press, (2006),
[Latombe, 1991]
J.C. Latombe.
Robot Motion Planning.
Kluwer Academic Publishers, (1991),
[López et al., 2006]
D. López, F. Gómez-Bravo, F. Cuesta, A. Ollero.
Planificación de trayectorias con el algoritmo RRT Aplicación a robots no holónomos.
Revista Iberoamericana de Automática e Informática Industrial, 3 (2006), pp. 56
[Nilsson, 2000]
N.J. Nilsson.
Inteligencia Artificial: una nueva síntesis.
Madrid, (2000),
[Pajares and Santos., 2005]
G. Pajares, M. Santos.
Inteligencia Artificial e Ingeniería del conocimiento.
RA-MA, (2005),
[Passino, 2005]
K.M. Passino.
Biomimicry for Optimization Control and Automation.
Springer-Verlag, (2005),
[Rios et al., 2001]
S. Rios, C. Bielza, A. Mateos.
Fundamentos de los Sistemas de Ayuda a la decisión.
RA-MA, (2001),
[Russel and Norvig., 2004]
S. Russel, P. Norvig.
Inteligencia Artificial: un enfoque moderno.
Prentice Hall, (2004),
[Ruz et al., 2006]
J.J. Ruz, O. Arévalo, J.M. de la Cruz, G. Pajares.
Using MILP for UAVs Trajectory Optimization under Radar Detection Risk.
In Proc. 11th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA2006), (2006), pp. 1-4
[Ruz et al., 2007]
J.J. Ruz, O. Arévalo, G. Pajares, J.M. de la Cruz.
Decision making among alternatives routes for UAVs in dynamic environments.
In Proc. 12th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA2007), pp. 1-4
[Schafer, 2001]
R. Schafer.
Rules for using multi-attribute utility theory for estimating a user's interests.
In Proc. of the workshop on Adaptitivity and User Modelling in Interactive Systems (ABIS), University of Dortmund, Germany, (2001),
[Tews et al., 2004]
A. Tews, M.J. Mataric, S. Sukhatme.
Avoiding Detection in a Dynamic Environment.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, (2004),
[Zabarankin et al., 2001]
M. Zabarankin, S. Uryasev, P. Pardalos.
Optimal risk path algorithm. Technical Report 2001-4.
Department of Industrial Systems Engineering, University of Florida, (2001),
[Zabarankin et al., 2006]
M. Zabarankin, S. Uryasev, R. Murphey.
Aircraft routing under the Risk of detection.
Naval Research Logistics l, 53 (2006), pp. 728-747
[Zengin and Dogan., 2004]
U. Zengin, A. Dogan.
Probabilistic Trajectory Planning for UAVs in Dynamic Environments.
proceedings of AIAA 3rd “Unmanned Unlimited” Technical Conference Workshop and Exhibit, Illinois, (2004),
Copyright © 2008. Elsevier España, S.L.. Todos los derechos reservados