A Simulation Engine for Autonomous UAV Path Planning and Delivery Optimization Using A Algorithm
Ankit Tiwari · 2024
This paper presents the development and evaluation of a simulation engine tailored for autonomous Unmanned Aerial Vehicle (UAV) operations in delivery scenarios without central control. The engine supports multiple depots and UAVs, facilitates inter-UAV communication, and operates in a three-dimensional space. Key functionalities include path planning using the A* algorithm, performance optimization through heuristic functions, and dynamic grid exchange between UAVs to improve route calculations. The simulation results reveal the strengths and limitations of the current approach, highlighting areas for further refinement, such as optimizing UAV communication and implementing moving obstacles. The engine provides a robust platform for testing various delivery scenarios, including the effects of different UAV numbers, depot configurations, and urban versus rural settings. Future work will explore enhancements like scouting UAVs to minimize communication overhead and the integration of moving obstacles.