Path Planning of UAV-UGV Heterogeneous Robot System in Road Network

The previous research on path planning of the UAV-UGV heterogeneous robot system plan paths for both UAV and UGV without considering the UGV’s moving range or plan only the UAV’s path based on the given UGV’s path. In reality, the UGV should be restricted to drive in the road network, and the given UGV’s path is not necessarily the best UGV’s path. In the heterogeneous package delivery system considered in this paper, the UGV’s path was restricted to the road network and the UAV’s and UGV’s paths were optimized simultaneously to get the optimized paths. This paper proposed a two-stage strategy to solve the path planning problem by a hybrid algorithm of modified ant colony optimization and genetic algorithm. The simulation results show that the proposed method is feasible.

[1]  Michal Kvasnica,et al.  An optimal path planning problem for heterogeneous multi-vehicle systems , 2016, Int. J. Appl. Math. Comput. Sci..

[2]  P. B. Sujit,et al.  Cooperative Planning for Fuel-constrained Aerial Vehicles and Ground-based Refueling Vehicles for Large-Scale Coverage , 2018, ArXiv.

[3]  Puca Huachi Vaz Penna,et al.  A Variable Neighborhood Search for Flying Sidekick Traveling Salesman Problem , 2018, Int. Trans. Oper. Res..

[4]  Steven Lake Waslander,et al.  Planning Paths for Package Delivery in Heterogeneous Multirobot Teams , 2015, IEEE Transactions on Automation Science and Engineering.

[5]  Jianqiang Li,et al.  A Hybrid Path Planning Method in Unmanned Air/Ground Vehicle (UAV/UGV) Cooperative Systems , 2016, IEEE Transactions on Vehicular Technology.

[6]  Emanuele Garone,et al.  Generalized Traveling Salesman Problem for Carrier-Vehicle Systems , 2014 .

[7]  Xiu Chunbo,et al.  Adaptive ant colony optimization algorithm , 2014, 2014 International Conference on Mechatronics and Control (ICMC).

[8]  Miroslav Fikar,et al.  Mixed-integer SOCP formulation of the path planning problem for heterogeneous multi-vehicle systems , 2014, 2014 European Control Conference (ECC).

[9]  Vijay Kumar,et al.  Cooperative air and ground surveillance , 2006, IEEE Robotics & Automation Magazine.

[10]  James R. Morrison,et al.  Automatic Battery Replacement System for UAVs: Analysis and Design , 2011, Journal of Intelligent & Robotic Systems.

[11]  Johnhenri R. Richardson,et al.  Autonomous battery swapping system for small-scale helicopters , 2010, 2010 IEEE International Conference on Robotics and Automation.

[12]  Randal W. Beard,et al.  Cooperative Path Planning for Target Tracking in Urban Environments Using Unmanned Air and Ground Vehicles , 2015, IEEE/ASME Transactions on Mechatronics.

[13]  Michal Kvasnica,et al.  Optimal vehicle routing with interception of targets' neighbourhoods , 2015, 2015 European Control Conference (ECC).

[14]  John Gunnar Carlsson,et al.  Coordinated Logistics with a Truck and a Drone , 2018, Manag. Sci..