Algoritmo híbrido para o roteamento de VANTs colaborativos com desvio de obstáculos

Authors

  • Antônio L. S. Aguiar Universidade Federal do Ceará, Campus de Sobral R. Cel. Estanislau Frota, 563 - Centro, Sobral - CE, 62010-560
  • Vandilberto P. Pinto Universidade da Integração Internacional da Lusofonia Afro-Brasileira, Campus das Auroras R. José Franco de Oliveira, s/n - Zona Rural, Redenção - CE, 62790-970

Keywords:

Multiple Traveling Salesmen, UAVs, Route planning, Ant colony System, DWA, Circumvent Obstacles

Abstract

This study addresses efficient task assignment for collaborative systems with a focus on route planning for multiple Unmanned Aerial Vehicles (UAVs). A hybrid algorithm based on the Ant Colony System is used with the application of the A* and DWA algorithms for the avoidance of fixed and mobile obstacles. The results show that the proposed method enables efficient route planning with the potential for more complex scenarios, providing guidance on mission time and distance traveled.

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Published

2024-10-18

Issue

Vol. 4 No. 1 (2024): CBA2024

Section

Articles