複数のUAVが飛行する動的環境におけるRRT*FNDを用いた経路計画

抄録

Adiyatov et al. proposed RRT*FN-Dynamic, an extension of Rapidly-exploring random trees (RRT) that can be applied in dynamic environments. This method re-plans the path if an obstacle intrudes on the path while moving along the obtained path. The purpose of this study is to guide multiple UAVs from each initial state to each target state while avoiding static obstacles and other airframes. In this paper, we applied RRT*FN-Dynamic(RRT*FND) to multiple UAVs in dynamic environments. The behavior of the airframes was simulated by using MATLAB, and it was confirmed that by considering other airframes as obstacles, multiple airframes can reach each target state while avoiding static obstacles and other airframes.