Panel method based motion planning for swarming MAVs with probabilistic target tracking

This paper presents a novel methodology for motion path planning of swarming Micro Aerial Vehicles (MAVs) operating in an urban environment. The method makes use of the potential field panel method commonly used in fluid dynamics, and guarantees obstacle avoidance as well as collision avoidance, while allowing for tracking and scanning probable target locations in a complex urban environment. Vehicle velocities on each trajectory are related to the calculated streamline velocities and are adjusted to match vehicle performance. A probabilistic approach allows maximum area coverage and preferred area concentrations in presence of large number of MAVs. The method allows for easy handling of urban environments filled with complex shaped structures. Demonstrations are given using a synthetic urban environment as well as the geometrical layout of the downtown area of an actual city.