Simulate An Adaptive Clustering-Based Algorithm for Automatic Path Planning of Heterogeneous UAVs

I wana simulate an article about UAVs;and I have some problems;please guid me to how simulate this artical compeletly.thanks a lot...

J. Chen, Y. Zhang, L. Wu, T. You and X. Ning, "An Adaptive Clustering-Based Algorithm for Automatic Path Planning of Heterogeneous UAVs," in IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 9, pp. 16842-16853, Sept. 2022, doi: 10.1109/TITS.2021.3131473.

10.1109/TITS.2021.3131473

[Hamid]

I have coded up to this point, please guide me to continue:

%% Adaptive Clustering-Based Algorithm for Automatic Path Planning of Heterogeneous UAVs

clear all;

close all;

clc;

%% Initialization

% Define the number of UAVs

num_UAVs = 5;

% Define the maximum flight time for each UAV

max_flight_time = 60; % minutes

% Define the maximum speed for each UAV

max_speed = 20; % m/s

% Define the initial positions of the UAVs

initial_positions = [0, 0; 1000, 1000; -1000, -1000; -500, 500; 500, -500];

% Define the target locations for each UAV

target_locations = [2000, 2000; -2000, -2000; 1500, -1500; -1500, 1500; 1000, -1000];

% Define the communication range between UAVs

communication_range = 500; % meters

% Define the clustering threshold

clustering_threshold = communication_range / sqrt(num_UAVs);

% Define the maximum number of iterations for clustering

max_iterations_clustering = num_UAVs;

% Define the maximum number of iterations for path planning

max_iterations_path_planning = num_UAVs * max_flight_time;

%% Clustering-Based Algorithm

% Initialize variables

current_positions = initial_positions;

current_time = zeros(num_UAVs,1);

current_targets_assigned = zeros(num_UAVs,num_UAVs);

current_targets_reached = zeros(num_UAVs,1);

current_clusters = cell(num_UAVs,1);

% Loop until all targets are reached or the maximum number of iterations is reached

for iteration = 1:max_iterations_path_planning

end

% Cluster the UAVs based on their current positions

for i = 1:num_UAVs

current_clusters{i} = [];

for j = 1:num_UAVs

if i ~= j && norm(current_positions(i,:) - current_positions(j,:)) <= clustering_threshold

current_clusters{i} = [current_clusters{i}, j];

end

end

end

% Assign targets to UAVs in each cluster

for i = 1:num_UAVs

if ~current_targets_reached(i)

targets_available = setdiff(1:num_UAVs,current_targets_assigned(i,:));

targets_in_cluster = [];

for j = 1:length(current_clusters{i})

targets_in_cluster = [targets_in_cluster,current_targets_assigned(current_clusters{i}(j),:)];

end

targets_in_cluster_unique = unique(targets_in_cluster);

targets_to_assign = setdiff(targets_available,targets_in_cluster_unique);

if ~isempty(targets_to_assign)

distances_to_targets_to_assign = zeros(length(targets_to_assign),1);

for k = 1:length(targets_to_assign)

distances_to_targets_to_assign(k) = norm(target_locations(targets_to_assign(k),:) - current_positions(i,:));

end

[~,min_index] = min(distances_to_targets_to_assign);

target_assigned_index = targets_to_assign(min_index);

current_targets_assigned(i,target_assigned_index) = 1;

end

end

end

% Move the UAVs towards their assigned targets and update their positions and time spent flying

for i=1:num_UAVs

end

if ~current_targets_reached(i)

end

targets_assigned = find(current_targets_assigned(i,:));

if ~isempty(targets_assigned)

end

Answer 1

[Venkatesh BalaSubburaman]

Hi,

You could look through the UAV toolbox to see the features that will help you in simulation. Scenario tooling lets you create quickly the scene with multiple UAV which can be controlled in a close loop UAV Scenario Tutorial - MATLAB & Simulink (mathworks.com). There are multiple examples in UAV Toolbox that will help you get started with simulation Get Started with UAV Toolbox — Examples (mathworks.com). Example List - MATLAB & Simulink (mathworks.com) has more example related to scenarios. Please give it a try.

Thanks

[Hamid]

Thanks a lot Mr Venkatesh BalaSubburaman

I will follow your advice but, if you find a result similar to the result of this article, I will be very happy if you share it with me.