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Autonomous Multi-UAV Path Planning in Pipe Inspection Missions Based on Booby Behavior

Author

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  • Faten Aljalaud

    (Computer Science Department, College of Computer and Information Sciences, King Saud University, Riyadh 11451, Saudi Arabia
    Computer Science Department, Imam Mohammad Ibn Saud Islamic University, Riyadh 11564, Saudi Arabia)

  • Heba Kurdi

    (Computer Science Department, College of Computer and Information Sciences, King Saud University, Riyadh 11451, Saudi Arabia
    Mechanical Engineering Department, Massachusetts Institute of Technology (MIT), Cambridge, MA 02139, USA)

  • Kamal Youcef-Toumi

    (Mechanical Engineering Department, Massachusetts Institute of Technology (MIT), Cambridge, MA 02139, USA)

Abstract

This paper presents a novel path planning heuristic for multi-UAV pipe inspection missions inspired by the booby bird’s foraging behavior. The heuristic enables each UAV to find an optimal path that minimizes the detection time of defects in pipe networks while avoiding collisions with obstacles and other UAVs. The proposed method is compared with four existing path planning algorithms adapted for multi-UAV scenarios: ant colony optimization (ACO), particle swarm optimization (PSO), opportunistic coordination, and random schemes. The results show that the booby heuristic outperforms the other algorithms in terms of mean detection time and computational efficiency under different settings of defect complexity and number of UAVs.

Suggested Citation

  • Faten Aljalaud & Heba Kurdi & Kamal Youcef-Toumi, 2023. "Autonomous Multi-UAV Path Planning in Pipe Inspection Missions Based on Booby Behavior," Mathematics, MDPI, vol. 11(9), pages 1-23, April.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:9:p:2092-:d:1135396
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    References listed on IDEAS

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    1. Yao Liu & Jianmai Shi & Zhong Liu & Jincai Huang & Tianren Zhou, 2019. "Two-Layer Routing for High-Voltage Powerline Inspection by Cooperated Ground Vehicle and Drone," Energies, MDPI, vol. 12(7), pages 1-20, April.
    2. Yonas Zewdu Ayele & Mostafa Aliyari & David Griffiths & Enrique Lopez Droguett, 2020. "Automatic Crack Segmentation for UAV-Assisted Bridge Inspection," Energies, MDPI, vol. 13(23), pages 1-16, November.
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    Cited by:

    1. Chuanyue Wang & Lei Zhang & Yifan Gao & Xiaoyuan Zheng & Qianling Wang, 2023. "A Cooperative Game Hybrid Optimization Algorithm Applied to UAV Inspection Path Planning in Urban Pipe Corridors," Mathematics, MDPI, vol. 11(16), pages 1-18, August.
    2. Jiayi Xu & Mario Di Nardo & Shi Yin, 2024. "Improved Swarm Intelligence-Based Logistics Distribution Optimizer: Decision Support for Multimodal Transportation of Cross-Border E-Commerce," Mathematics, MDPI, vol. 12(5), pages 1-20, March.

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