Academic Journal
Trajectory optimization for UAV-based medical delivery with temporal logic constraints and convex feasible set collision avoidance.
| Τίτλος: | Trajectory optimization for UAV-based medical delivery with temporal logic constraints and convex feasible set collision avoidance. |
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| Συγγραφείς: | Chen, Kaiyuan, Suo, Yuhan, Cui, Shaowei, Xi, Yuanqing, Liang, Wannian, Wang, Shuo |
| Πηγή: | Global Transitions; 2026, Vol. 8 Issue 1, p110-119, 10p |
| Θεματικοί όροι: | Trajectory optimization, Obstacle avoidance (Robotics), Medical care, Aeronautical navigation, Convex domains, Convex programming |
| Περίληψη: | This paper addresses the problem of trajectory optimization for unmanned aerial vehicles (UAVs) performing time-sensitive medical deliveries in urban environments. Specifically, we consider a single UAV with 3-degree-of-freedom dynamics tasked with delivering blood packages to multiple hospitals, each with a predefined time window and priority. Mission objectives are encoded using Signal Temporal Logic (STL), enabling the formal specification of spatial-temporal constraints. To ensure safety, city buildings are modeled as 3D convex obstacles, and obstacle avoidance is handled through a Convex Feasible Set (CFS) method. The entire planning problem—combining UAV dynamics, STL satisfaction, and collision avoidance—is formulated as a convex optimization problem that ensures tractability and can be solved efficiently using standard convex programming techniques. Simulation results demonstrate that the proposed method generates dynamically feasible, collision-free trajectories that satisfy temporal mission goals, providing a scalable and reliable approach for autonomous UAV-based medical logistics. [ABSTRACT FROM AUTHOR] |
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| Βάση Δεδομένων: | Biomedical Index |
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