Concentrated Coverage Path Planning Algorithm of UAV Formation for Aerial Photography

Cao, Yi; Cheng, Xianghong; Mu, Jinzhen

doi:10.1109/jsen.2022.3168840

Cited by 36 publications

(21 citation statements)

References 26 publications

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“…In current research [10] [25] [26] [27], the planning space for a UAV is typically a collection of points with the same dimensions as the raster map of the environment, as shown in Fig. 5, and trajectory planning for the UAV is performed by selecting its next target waypoint in real time.…”

Section: B "Platform-sensor-environment" Mapping Methods Based On Dec...mentioning

confidence: 99%

“…In this section, the algorithm computation time is analyzed, and the PSE-D model is compared with the trajectory planning methods in references [10] and [26]. First, the computation times of the proposed method in the waypoint set calculation phase and the trajectory generation phase are described.…”

Section: E Advantages Of the Pse-d Model In Terms Of Computation Timementioning

confidence: 99%

“…The dimensions of the trajectory planning spaces described in references [10] and [26] align with those of the digital raster map. For the task scenario addressed in this paper, the UAV and USV trajectory planning spaces incorporate waypoint counts of 40 × 30 × 2 and 40 × 30, respectively, resulting in a solution length of 3600.…”

Section: E Advantages Of the Pse-d Model In Terms Of Computation Timementioning

confidence: 99%

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PSE-D Model-Based Cooperative Path Planning for UAV and USV Systems in Antisubmarine Search Missions

Wang,

Liang,

et al. 2024

IEEE Trans. Aerosp. Electron. Syst.

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Unmanned aerial vehicles (UAVs) have numerous applications in reconnaissance, search, and rescue missions. However, searching underwater areas remains a challenge for UAVs. For anti-submarine search tasks, this paper proposes using a mixed swarm of UAVs and unmanned surface vehicles (USVs). To generate vehicle paths with the goal of minimizing the travel time while achieving complete coverage, a two-phase strategy is developed. In the first phase, optimal waypoints are determined to balance the task volume among the UAVs and USVs. A mapping model is constructed to represent the relationships between the different unmanned platforms and the mission environment. In the second phase, the search trajectory for each UAV/USV is generated by combining waypoint clustering and closed-loop trajectory generation. A detailed simulation study confirms the feasibility and flexibility of the proposed path planning method when applied to cross-domain swarms of different types and sizes for anti-submarine missions. In addition, the simulation results show that cross-domain cooperative planning for unmanned platforms may have advantages over single-domain planning in some scenarios.

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Section: B "Platform-sensor-environment" Mapping Methods Based On Dec...mentioning

confidence: 99%

Section: E Advantages Of the Pse-d Model In Terms Of Computation Timementioning

confidence: 99%

Section: E Advantages Of the Pse-d Model In Terms Of Computation Timementioning

confidence: 99%

See 1 more Smart Citation

PSE-D Model-Based Cooperative Path Planning for UAV and USV Systems in Antisubmarine Search Missions

Wang,

Liang,

et al. 2024

IEEE Trans. Aerosp. Electron. Syst.

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“…Unmanned aerial vehicles (UAVs) have attracted increasing attention in recent years for their wide range of applications, including pesticide spraying [1], aerial photography [2], environmental monitoring [3], reconnaissance [4], and transportation [5]. In addition to these non-contact tasks, there are increasing demands on contact-based operations such as industrial contact inspection [6], window-cleaning [7], peg-in-hole assembly [8], and aerial grasping [9].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Model Predictive Impedance Control of a Fully Actuated Hexarotor for Physical Interaction

Jiao

Rong

et al. 2023

Sensors

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In this paper, the problem of a fully actuated hexarotor performing a physical interaction with the environment through a rigidly attached tool is considered. A nonlinear model predictive impedance control (NMPIC) method is proposed to achieve the goal in which the controller is able to simultaneously handle the constraints and maintain the compliant behavior. The design of NMPIC is the combination of a nonlinear model predictive control and impedance control based on the dynamics of the system. A disturbance observer is exploited to estimate the external wrench and then provide compensation for the model which was employed in the controller. Moreover, a weight adaptive strategy is proposed to perform the online tuning of the weighting matrix of the cost function within the optimal problem of NMPIC to improve the performance and stability. The effectiveness and advantages of the proposed method are validated by several simulations in different scenarios compared with the general impedance controller. The results also indicate that the proposed method opens a novel way for interaction force regulation.

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“…In practice, further improvement is often needed. Literature [1] uses various escape methods based on the existing potential method to study the problem that uncrewed ships are prone to falling into local minima during movement. In literature [2], the path obtained by integrating the potential field method with the grid model is safe and short but not smooth enough.…”

mentioning

confidence: 99%

Uncrewed Boat Path Planning Algorithm based on Evolutionary Potential Field Model in Dense Obstacle Environment

Zheng,

Huang

2024

SCPE

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In the trajectory planning of crewless ships, the artificial potential field method is commonly used. The results obtained using the classic potential field model for path design are not optimal and cannot fully meet the trajectory design requirements of uncrewed ships. This paper uses the evolutionary potential field model for trajectory planning. The evaluation formula of the potential path is combined with the differential evolution algorithm to evaluate and optimize the potential. A quadratic optimization smoothing algorithm is designed to limit the maximum turning angle of the uncrewed ship. Simulation experiments show that this method is effective and reliable.

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Concentrated Coverage Path Planning Algorithm of UAV Formation for Aerial Photography

Cited by 36 publications

References 26 publications

PSE-D Model-Based Cooperative Path Planning for UAV and USV Systems in Antisubmarine Search Missions

PSE-D Model-Based Cooperative Path Planning for UAV and USV Systems in Antisubmarine Search Missions

Nonlinear Model Predictive Impedance Control of a Fully Actuated Hexarotor for Physical Interaction

Uncrewed Boat Path Planning Algorithm based on Evolutionary Potential Field Model in Dense Obstacle Environment

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