학술논문
A-Star Based Algorithm Applied to Target Search and Rescue by a UAV Swarm
Document Type
Conference
Author
Source
2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE) Robotics Symposium (LARS), 2022 Latin American, Robotics (SBR), 2022 Brazilian Symposium on, Robotics in Education (WRE), 2022 Workshop on. :49-54 Oct, 2022
Subject
Language
ISSN
2643-685X
Abstract
Drone swarms are being utilized in several areas, e.g., monitoring, surveillance, security, and search, demonstrating great potential. In this paper, we considered a specific number of drones flying simultaneously (using computational intelligence techniques between them to avoid collisions) and increased the effectiveness in conducting search tasks. The main contribution of this work is to propose a technique to coordinate the swarm using search methods based on the A* algorithm and its heuristics (i.e., Euclidean and Manhattan distances). The communication between drones is also evaluated and applied to a target search problem on a two-dimensional cost map. The results show a considerable optimization in the effectiveness of the drone swarm (fewer drones are blocked at local minima), which highlights the contribution of this work.