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http://hdl.handle.net/1942/36287
Title: | An energy efficient IoD static and dynamic collision avoidance approach based on gradient optimization | Authors: | Ahmed, G Sheltami, T Deriche, M YASAR, Ansar |
Issue Date: | 2021 | Publisher: | ELSEVIER | Source: | Ad Hoc Networks, 118 (Art N° 102519) | Abstract: | Internet of Drones (IoD) formation offers a wide variety of applications in military and civilian environments. In highly congested terrain, dynamic and static obstacles have a critical impact on IoD performance. One of the critical challenges in IoD missions is avoiding obstacles for successfully and safely completing their tasks. The limited flight time of a drone is another challenge. Thus, IoD has to be provided by an intelligent and accurate energy-efficient collision avoidance algorithm in which IoD paths are modified online to guarantee drones safety. This paper presents an energy-efficient strategy to avoid static and dynamic collisions with minimum energy required for drones to reach their destinations safely. We develop a novel algorithm to avoid multiple static and dynamic obstacles of different sizes within a limited detection range with energy consumption minimization. To do so, the gradient-based approach is utilized in the proposed algorithm for fast and quick convergence. Furthermore, the proposed algorithm allows drones to be in hovering or backtracking states; or they can fly vertically in other cases. More importantly, the results validate the efficiency and accuracy of the proposed algorithm in a dense environment that involves high collision risk with obstacle relative speed up to 10 meters/sec. | Keywords: | IoD formation;Path planning;Gradient optimization;Collision avoidance;Energy consumption | Document URI: | http://hdl.handle.net/1942/36287 | ISSN: | 1570-8705 | e-ISSN: | 1570-8713 | DOI: | 10.1016/j.adhoc.2021.102519 | ISI #: | 000656247200002 | Rights: | 2021 Published by Elsevier B.V. | Category: | A1 | Type: | Journal Contribution | Validations: | ecoom 2022 |
Appears in Collections: | Research publications |
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An energy efficient IoD static and dynamic collision avoidance approach based on gradient optimization.pdf Restricted Access | Published version | 5.81 MB | Adobe PDF | View/Open Request a copy |
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