UAV Swarm Real-Time Rerouting by Edge Computing D* Lite Algorithm

Seeking to give unmanned aerial vehicles (UAVs) a higher level of autonomous control, this study uses edge computing systems replace the ground control station (GCS) commonly used UAVs. Since GCS belongs central architecture, system distributed architecture can drones more flexibility in dealing with changing environmental conditions, allowing them autonomously and instantly plan their flight path, fly formation, or even avoid obstacles. Broadcast communications are realize UAV-to-UAV communications, thus allocating tasks among swarm UAVs ensuring that each individual UAV collaborates as an integrated member group. The dynamic path programming problem for missions two-phase tabu search 2-Opt exchange method A* algorithm. Distance is taken cost function programming. turning points no-fly zones then increased expanded based on drone fleet coverage, preventing from entering prohibited areas. Unlike previous work, which mostly considers only single zones, approach accounts multiple restricted areas, complete its assigned task without violating zones. A encountering obstacle while traveling along route set by algorithm will update map information real time, instant recharting optimal goal reverse using D* Lite