Journal Article10.1007/S10846-014-0077-Y
Path Planning for Multi-UAV Formation
135
TL;DR: An efficient and feasible algorithm for the path planning problem of the multiple unmanned aerial vehicles (multi-UAVs) formation in a known and realistic environment and has a good path planning ability for the single UAV and the all UAVs formation.
read more
Abstract: This paper presents an efficient and feasible algorithm for the path planning problem of the multiple unmanned aerial vehicles (multi-UAVs) formation in a known and realistic environment. The artificial potential field method updated by the additional control force is used for establishing two models for the single UAV, which are the particle dynamic model and the path planning optimization model. The additional control force can be calculated by using the optimal control method. Furthermore, the multi-UAV path planning model is established by introducing "virtual velocity rigid body" and "virtual target point". Then, the motion states of the lead plane and wingmen are obtained from the path planning model. Finally, the path following process based on the quadrotor helicopter PID controllers is introduced to verify the rationality of the path planning results. The simulation results show that the artificial potential method with the additional control force improved by the optimal control method has a good path planning ability for the single UAV and the all UAVs formation. At the same time, the path planning results are available and the UAVs can basically track the UAV formation.
read more
Chat with Paper
AI Agents for this Paper
Find similar papers on Google Scholar, PubMed and Arxiv
Write a critical review of this paper
Analyze citations of this paper to find unaddressed research gaps
Citations
Efficient path planning for UAV formation via comprehensively improved particle swarm optimization
TL;DR: In the proposed method, a chaos-based Logistic map is firstly adopted to improve the particle initial distribution and a mutation strategy that undesired particles are replaced by those desired ones is proposed and the algorithm convergence speed is accelerated.
277
Design Challenges of Multi-UAV Systems in Cyber-Physical Applications: A Comprehensive Survey and Future Directions
Reza Shakeri,Mohammed Ali Al-Garadi,Ahmed Badawy,Amr Mohamed,Tamer Khattab,Abdulla Al-Ali,Khaled A. Harras,Mohsen Guizani +7 more
TL;DR: This survey aims to pinpoint the most fundamental and important design challenges of multi-UAV systems for CPS applications, highlighting key and versatile aspects that span the coverage and tracking of targets and infrastructure objects, energy-efficient navigation, and image analysis using machine learning for fine-grained CPS applications.
Survey on Unmanned Aerial Vehicle Networks: A Cyber Physical System Perspective
TL;DR: In this paper, a comprehensive survey on UAV networks from a CPS perspective is presented, where three interacted CPS components, i.e., communication, computation and control, are analyzed.
227
A survey of formation control and motion planning of multiple unmanned vehicles
TL;DR: A detailed survey to review a range of techniques related to the operation of multi-vehicle systems in different environmental domains, including land based, aerospace and marine with the specific focuses placed on formation control and cooperative motion planning.
Collision Avoidance Strategies for Unmanned Aerial Vehicles in Formation Flight
TL;DR: The proposed strategies allow a group of UAVs to avoid obstacles and separate if necessary through a simple algorithm with low computation by expanding the collision-cone approach to formation of Uavals.
References
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
8.8K
Potential field methods and their inherent limitations for mobile robot navigation
Yoram Koren,Johann Borenstein +1 more
- 09 Apr 1991
TL;DR: Based on a rigorous mathematical analysis, the authors present a systematic overview and a critical discussion of the inherent problems of potential field methods (PFMs) and developed a new method for fast obstacle avoidance.
A vision-based formation control framework
Aveek Das,Rafael Fierro,Vijay Kumar,James Ostrowski,John R. Spletzer,Camillo J. Taylor +5 more
- 10 Dec 2002
TL;DR: In this article, the authors describe a framework for cooperative control of a group of nonholonomic mobile robots that allows them to build complex systems from simple controllers and estimators, and guarantee stability and convergence in a wide range of tasks.
Comparison of Parallel Genetic Algorithm and Particle Swarm Optimization for Real-Time UAV Path Planning
TL;DR: By using a parallel implementation on standard multicore CPUs, real-time path planning for UAVs is possible and a rigorous comparison of the two algorithms shows, with statistical significance, that the GA produces superior trajectories to the PSO.
1K
Full control of a quadrotor
Samir Bouabdallah,Roland Siegwart +1 more
- 10 Dec 2007
TL;DR: This paper summarizes the final results of the modeling and control parts of OS4 project, which focused on design and control of a quadrotor and introduces a simulation model which takes into account the variation of the aerodynamical coefficients due to vehicle motion.
903