NDLI: Multiple Unmanned Vehicle Operations in Confined Areas

Content Provider	IEEE Xplore Digital Library
Author	Zhang Qian Leng, G. Govindaraju, V.
Copyright Year	2013
Description	Author affiliation: Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore, Singapore (Zhang Qian; Leng, G.; Govindaraju, V.)
Abstract	The aim of the research is to study the dynamics of multiple unmanned air/ground/surface vehicles (UXV) operating in confined areas. A simple model of the UXV dynamics is first derived, and the expected time of first collision is then formulated using the concept of a mean free path from molecular dynamics. Monte-Carlo simulation is performed to verify the theory developed. In our formulation, the expected time of first collision is a function of number of UXVs, the UXV speed and sensor field of view (FOV) for a given operational area and vehicle size. From 1000 simulation runs for each set of operating conditions, a regression analysis was performed using the theoretical formula and a close fit with residuals of around 5% was obtained. The theory predicts that the expected time of first collision decreases at a decreasing rate when the number of vehicles and the speed increase, and will increase at an increasing rate when the FOV becomes larger. Furthermore, there is a critical number of UXVs, above which collision can be deemed to occur instantaneously. The results will be useful for the planning of UXV operations in confined areas.
Starting Page	341
Ending Page	345
File Size	427200
Page Count	5
File Format	PDF
ISBN	9781479928859
e-ISBN	9781479928866
DOI	10.1109/GCIS.2013.61
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-03
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	collision confined area UXV Simulation Conferences Sensors Collision avoidance Vehicle dynamics Robots Vehicles
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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