A Method for Constructing Collision Avoidance Route for Multiple UAVs Using AODV-Based Link Hierarchization
Shuto Ohkawa, Taku Yamazaki, Ryo Yamamoto, Takumi Miyoshi, Kiyoshi Ueda · 2023
Unmanned Aerial Vehicle (UAV) route constructing methods have been researched using protocols for ad hoc networks composed by smart meter radio devices. In the previous study, we established the method which construct the most optimal route for UAV travel in terms of travel distance and safety based on AODV. Every node was given information whether it was in a densely populated area or scattered residential area. In this research, to eliminate the risk of UAVs collision due to overlapping routes of multiple UAVs navigating simultaneously, we propose a method of locking links so that the link used for a UAV constructing route cannot be used for the route of other UAVs. In addition, we propose link hierarchization in the air to solve the link shortage caused by locking links. We evaluate and verify the effectiveness and characteristics of the proposed methods by computer simulation.