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Efficient Trajectory Planning for WSN Data Collection with Multiple UAVs

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Cooperative Robots and Sensor Networks 2015

Part of the book series: Studies in Computational Intelligence ((SCI,volume 604))

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Abstract

This chapter discusses the problem of trajectory planning for WSN (Wireless Sensor Network) data retrieving deployed in remote areas with a cooperative system of UAVs (Unmanned Aerial Vehicles). Three different path planners are presented in order to autonomously guide the UAVs during the mission. The missions are given by a set of waypoints which define WSN collection zones and each UAV should pass through them to collect the data while avoiding passing over forbidden areas and collisions between UAVs. The proposed UAV trajectory planners are based on Genetics Algorithm (GA), RRT (Rapidly-exploring Random Trees) and RRT* (Optimal Rapidly-exploring Random Trees). Simulations and experiments have been carried out in the airfield of Utrera (Seville, Spain). These results are compared in order to measure the performance of the proposed planners.

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Acknowledgments

This work was supported by the European Commission FP7 ICT Programme under the Project PLANET (European Commission FP7-257649-ICT-2009-5) and the RANCOM Project (P11-TIC-7066) funded by the Junta de Andalucía (Spain). David Alejo is granted with a FPU Spanish fellowship from the Ministerio de Educación, Cultura y Deporte (Spain).

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Authors and Affiliations

  1. University of Seville, Camino de Los Descubrimientos S/N, Seville, Spain

    D. Alejo, J. A. Cobano, G. Heredia, J. Ramiro Martínez-de Dios & A. Ollero

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  1. D. Alejo
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  2. J. A. Cobano
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  3. G. Heredia
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  4. J. Ramiro Martínez-de Dios
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  5. A. Ollero
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Correspondence to D. Alejo .

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Editors and Affiliations

  1. College of Computer and Information Sciences (CCIS), Prince Sultan University, Riyadh, Saudi Arabia, and CISTER/INESC-TEC, ISEP, Polytechnic Institute of Porto, Porto, Portugal

    Anis Koubâa

  2. Depto. Ing. de Sistemas y Automática Escuela Superior de Ingenieros, University of Seville, Sevilla, Spain

    J.Ramiro Martínez-de Dios

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Alejo, D., Cobano, J.A., Heredia, G., Martínez-de Dios, J.R., Ollero, A. (2015). Efficient Trajectory Planning for WSN Data Collection with Multiple UAVs. In: Koubâa, A., Martínez-de Dios, J. (eds) Cooperative Robots and Sensor Networks 2015. Studies in Computational Intelligence, vol 604. Springer, Cham. https://doi.org/10.1007/978-3-319-18299-5_3

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  • DOI: https://doi.org/10.1007/978-3-319-18299-5_3

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