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dc.contributor.authorZhang, Naen_US
dc.contributor.authorZhang, Mingchengen_US
dc.contributor.authorLow, Kin Huaten_US
dc.identifier.citationZhang, N., Zhang, M. & Low, K. H. (2021). 3D path planning and real-time collision resolution of multirotor drone operations in complex urban low-altitude airspace. Transportation Research Part C: Emerging Technologies, 129, 103123-.
dc.description.abstractDrones have been greatly developed to facilitate the progress of various industries. The safe operation of drones in the urban airspace is critical to ensure a reliable and high-efficient urban air traffic system. This work presents a fusion scheme to achieve autonomous drone collision-free path planning considering static obstacles and dynamic threats detected. Firstly, a 3D voxel jump point search (JPS) based path planning model is developed to generate the static collision-free reference path. With the optimization, the reference path is then de-diagonalized, recon- structed, and smoothed to obtain the desired path. Subsequently, a local collision resolution method is proposed to avoid near mid-air collision of the dynamic threats. The method is based on the Markov decision process (MDP) to implement real-time dynamic collision avoidance. Simu- lations are conducted to verify the performance of the proposed model. The simulation results demonstrate that the proposed model is effective to achieve the autonomous path planning and real-time collision resolution of multirotor drones.en_US
dc.description.sponsorshipCivil Aviation Authority of Singapore (CAAS)en_US
dc.description.sponsorshipMinistry of Education (MOE)en_US
dc.description.sponsorshipNanyang Technological Universityen_US
dc.relation.ispartofTransportation Research Part C: Emerging Technologiesen_US
dc.rights© 2021 Elsevier Ltd. All rights reserved. This paper was published in Transportation Research Part C: Emerging Technologies and is made available with permission of Elsevier Ltd.en_US
dc.subjectEngineering::Aeronautical engineeringen_US
dc.title3D path planning and real-time collision resolution of multirotor drone operations in complex urban low-altitude airspaceen_US
dc.typeJournal Articleen
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.contributor.researchAir Traffic Management Research Instituteen_US
dc.description.versionAccepted versionen_US
dc.subject.keywordsStatic Obstaclesen_US
dc.subject.keywordsDynamic Threatsen_US
dc.description.acknowledgementThis research is supported by the MoE Tier-1 project research grant 2018-T1-002-124, and in part by the Civil Aviation Authority of Singapore (CAAS) and the Nanyang Technological University, Singapore under their collaboration in the Air Traffic Management Research Institute (ATMRI). Any opinions, findings, and or recommendations expressed in this material are those of the authors and do not reflect the views of the CAAS and the ATMRI.en_US
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