A Collision-Free Path Planning Algorithm for Unmanned Aerial Vehicle Delivery

by   Ziji Shi, et al.

Path planning is important for the autonomy of Unmanned Aerial Vehicle (UAV), especially for scheduling UAV delivery. However, the operating environment of UAVs is usually uncertain and dynamic. Without proper planning, collisions may happen where multiple UAVs are congested. Besides, there may also be temporary no-fly zone setup by authorities that makes airspace unusable. Thus, proper pre-departure planning that avoids such places is needed. In this paper, we formulate this problem into a Constraint Satisfaction Problem to find a collision-free shortest path on a dynamic graph. We propose a collision-free path planning algorithm that is based on A* algorithm. The main novelty is that we invent a heuristic function that also considers waiting time. We later show that, with added waiting penalty, the proposed algorithm is optimal because the heuristic is admissible. Implementation of this algorithm simulates UAV delivery using Singapore's airspace structure. Our simulation exhibits desirable runtime performance. Using the proposed algorithm, the percentage of collision-free routes decreases as number of requests per unit area increases, and this percentage drops significantly at boundary value. Our empirical analysis could aid the decision-making of no-fly zone policy and infrastructure of UAV delivery.


page 1

page 2

page 3

page 4


Connectivity-Aware UAV Path Planning with Aerial Coverage Maps

Cellular networks are promising to support effective wireless communicat...

Reinforcement Learning to Optimize the Logistics Distribution Routes of Unmanned Aerial Vehicle

Path planning methods for the unmanned aerial vehicle (UAV) in goods del...

Priority Maps for Surveillance and Intervention of Wildfires and other Spreading Processes

Unmanned Aerial Vehicle (UAV) path planning algorithms often assume a kn...

Vision-based Distributed Multi-UAV Collision Avoidance via Deep Reinforcement Learning for Navigation

Online path planning for multiple unmanned aerial vehicle (multi-UAV) sy...

Incentive Mechanism and Path Planning for UAV Hitching over Traffic Networks

Package delivery via the UAVs is a promising transport mode to provide e...

Towards Fully Environment-Aware UAVs: Real-Time Path Planning with Online 3D Wind Field Prediction in Complex Terrain

Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are large...

A Planning Framework for Persistent, Multi-UAV Coverage with Global Deconfliction

Planning for multi-robot coverage seeks to determine collision-free path...

Please sign up or login with your details

Forgot password? Click here to reset