Graph-Based Collision Avoidance Algorithm Among Swarm Agents

Basit Öğe Kaydı
dc.authorscopusid55364612200
dc.authorscopusid58759360300
dc.authorscopusid57201856798
dc.contributor.authorDurdu A.
dc.contributor.authorTuncer M.
dc.contributor.authorYildiz B.
dc.date.accessioned2024-01-22T12:22:41Z
dc.date.available2024-01-22T12:22:41Z
dc.date.issued2023
dc.departmentKMÜen_US
dc.descriptionAlewijnse;DMT Marine Equipment;Eekels;Libertyen_US
dc.description8th International Symposium on Electrical and Electronics Engineering, ISEEE 2023 -- 26 October 2023 through 28 October 2023 -- -- 194477en_US
dc.description.abstractMore than one homogenous or heterogenous type unmanned vehicle can work in a coordinated manner and perform large-scale swarm tasks (firefighting, search and rescue, mapping, and military operations, etc.) efficiently in a shorter time by sharing tasks. Collision of these vehicles is among the most significant problems encountered during their work. The crash of the vehicles causes the vehicles to be out of duty and, accordingly, to the mission's failure. In this study, Quadrotor-type UAVs used as agents can go to any target point by receiving location, speed, and compass information with GPS and IMU sensors. In the application, the agents' locations were kept and updated in a list in pairs, similar to the traversing process in the Optimized Bubble Sort Algorithm. The projections of the velocity vectors on the agents' axis (local) on a single coordinate plane are taken to determine the collision situation between these two agents that are traveling instantaneously. These global velocity vectors, whose projections are taken, are re-projected to the edge formed by these two agents in the graph and then subtracted from each other. Suppose the size of the vector is greater than the distance between two agents obtained by any GPS distance algorithm (Pythagoras, Haversine, etc.). In this case, collision is detected, and the separation process is activated. Separation is the process of advancing one agent in the opposite direction of the other until a minimum safe distance is achieved, where one agent entered by the user will not affect the other. Once the separation is complete, the agent moves to the final destination point. © 2023 IEEE.en_US
dc.description.sponsorshipB022302382; Konya Teknik Üniversitesi, KTÜN; Türkiye Bilimsel ve Teknolojik Araştırma Kurumu, TÜBİTAK: B012200197en_US
dc.description.sponsorshipACKNOWLEDGMENT This article is supported by TUBITAK 2224-A Program (App.No:1919B022302382) and TUBITAK 2209-A Program (App.No:1919B012200197). The authors would like to thank TUBITAK and Konya Technical University RAC-LAB Research Laboratory (http://www.rac-lab.com).en_US
dc.description.sponsorshipThis article is supported by TUBITAK 2224-A Program (App.No:1919B022302382) and TUBITAK 2209-A Program (App.No:1919B012200197). The authors would like to thank TUBITAK and Konya Technical University RAC-LAB Research Laboratory (http://www.rac-lab.com).en_US
dc.identifier.doi10.1109/ISEEE58596.2023.10310351
dc.identifier.endpage24en_US
dc.identifier.isbn9798350301670
dc.identifier.scopus2-s2.0-85179502333
dc.identifier.scopusqualityN/A
dc.identifier.startpage19en_US
dc.identifier.urihttps://doi.org/10.1109/ISEEE58596.2023.10310351
dc.identifier.urihttps://hdl.handle.net/11492/8095
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartof2023 8th International Symposium on Electrical and Electronics Engineering, ISEEE 2023 - Proceedingsen_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.snmzkmusnmz
dc.subjectAutonomous Unmanned Aerial Vehicle Swarmen_US
dc.subjectCollision Avoidanceen_US
dc.subjectGPS Distance Algorithmen_US
dc.subjectAccidentsen_US
dc.subjectAutonomous agentsen_US
dc.subjectCollision avoidanceen_US
dc.subjectGraphic methodsen_US
dc.subjectMilitary operationsen_US
dc.subjectMilitary vehiclesen_US
dc.subjectAutonomous unmanned aerial vehicle swarmen_US
dc.subjectAutonomous unmanned aerial vehiclesen_US
dc.subjectCollisions avoidanceen_US
dc.subjectDistance algorithmen_US
dc.subjectGPS distance algorithmen_US
dc.subjectGraph-baseden_US
dc.subjectLarge-scalesen_US
dc.subjectSwarm agentsen_US
dc.subjectTwo agentsen_US
dc.subjectVelocity vectorsen_US
dc.subjectAntennasen_US
dc.titleGraph-Based Collision Avoidance Algorithm Among Swarm Agentsen_US
dc.typeConference Object

Dosyalar

Koleksiyon

Scopus İndeksli Yayınlar Koleksiyonu