A Study on a Path Planning Method Limited Over Rivers for High-Density UAV Delivery in Urban Areas
Ryusei YAMADA, Satoko Abiko, Teppei Tsujita, Daisuke Sato · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2024
This paper describes a path-planning method limited over rivers for high-density UAV delivery in urban areas. In this paper, SWAP (Safety-enhanced Avoidance Policy) is applied for collision avoidance, and its effectiveness and performance limitations are clarified through the flight simulations. The simulation shows that the SWAP is useful even in high-density UAV flights. However, in the limited airspace, the UAV flies backward to avoid the other UAV while keeping the flight area. The simulations could clarify the limitation of SWAP in the case of limited airspace.