Path Planning for Multi-UAV Formation Rendezvous Based on Distributed Cooperative Particle Swarm Optimization

Shao, Zhuang; Yan, Fei; Zhou, Zhou; Zhu, Xiaoping

doi:10.3390/app9132621

Cited by 65 publications

(40 citation statements)

References 40 publications

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“…Path planning is one of the key technologies of multi-UAV formation flight, which mainly includes formation assembly route plan, formation maintenance route plan, and formation reconstruction route plan [12,13]. Among them, formation assembly path planning is the process of formation generation of multiple UAVs.…”

Section: Path Optimization Methods For Multiplementioning

confidence: 99%

Virtual Reality Technology of Multi UAVEarthquake Disaster Path Optimization

Wang

Liu

2021

Mathematical Problems in Engineering

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China is a country with frequent earthquake disasters. After the occurrence of earthquake disasters, the key to disaster monitoring and rescue is to quickly obtain images of postdisaster areas. Unmanned aerial vehicle (UAV) path planning is the core of multi-UAV cooperative control. With the increasing popularity of UAVs, people with more complex living environments contact with UAVs more frequently, which also poses a challenge to the overall control of UAVs, making single UAV and even multi-UAV cooperative path planning become a hot research issue in recent years. The complexity of communication between aircraft in three-dimensional flight space and multidegree of freedom navigation makes multi-UAV cooperation more challenging. According to the research results at home and abroad, this paper takes multitarget tracking algorithm, ant colony algorithm, and hybrid particle swarm optimization algorithm as research methods. Based on virtual reality technology, by comparing the advantages and disadvantages of several algorithms, the research model of path optimization is established, and a multitarget detection method based on virtual reality technology is established. Through the analysis and improvement of multitarget tracking algorithm, ant colony algorithm, and hybrid particle swarm optimization algorithm, the path optimization problem of UAV after an earthquake based on virtual reality technology is studied. The results show that, compared with the previous research models, the overall optimization efficiency of UAV route is improved by 15%, which is more practical.

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Section: Path Optimization Methods For Multiplementioning

confidence: 99%

Virtual Reality Technology of Multi UAVEarthquake Disaster Path Optimization

Wang

Liu

2021

Mathematical Problems in Engineering

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“…Sun JY et al (2017) presented an optimized artificial potential field (APF) algorithm for cooperative UAVs in a 3D urban environment to generate collision-free and smooth trajectories that can lead UAVs to reach a target. Shao et al (2019) proposed a distributed cooperative particle swarm optimization (DCPSO) algorithm with an elite keeping strategy to generate PH paths for UAV group formation rendezvous in a 3D obstacle environment. The optimization objectives are the total range and smoothness of the paths, while considering UAV synchronicity and collision avoidance.…”

Section: Classification Of Existing Researchmentioning

confidence: 99%

A review of cooperative path planning of an unmanned aerial vehicle group

Zhang

Xin

Dou

et al. 2020

Front Inform Technol Electron Eng

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As a cutting-edge branch of unmanned aerial vehicle (UAV) technology, the cooperation of a group of UAVs has attracted increasing attention from both civil and military sectors, due to its remarkable merits in functionality and flexibility for accomplishing complex extensive tasks, e.g., search and rescue, fire-fighting, reconnaissance, and surveillance. Cooperative path planning (CPP) is a key problem for a UAV group in executing tasks collectively. In this paper, an attempt is made to perform a comprehensive review of the research on CPP for UAV groups. First, a generalized optimization framework of CPP problems is proposed from the viewpoint of three key elements, i.e., task, UAV group, and environment, as a basis for a comprehensive classification of different types of CPP problems. By following the proposed framework, a taxonomy for the classification of existing CPP problems is proposed to describe different kinds of CPPs in a unified way. Then, a review and a statistical analysis are presented based on the taxonomy, emphasizing the coordinative elements in the existing CPP research. In addition, a collection of challenging CPP problems are provided to highlight future research directions.

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“…In some cases, they are used to smooth trajectories generated with other methods, including graph based paths. Graphs are widely used in trajectory optimization thanks to their capability of discretizing and modeling the continuum by means of a certain number of nodes and arcs: probabilistic roadmaps [15,16], Voronoi diagrams [17][18][19][20], cell decomposition [21][22][23][24][25], and polynomial and spline parameterizations [26][27][28] are examples of methods based on graphs.…”

Section: Introductionmentioning

confidence: 99%

Path Planning and Real-Time Collision Avoidance Based on the Essential Visibility Graph

et al. 2020

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This paper deals with a novel procedure to generate optimum flight paths for multiple unmanned aircraft in the presence of obstacles and/or no-fly zones. A real-time collision avoidance algorithm solving the optimization problem as a minimum cost piecewise linear path search within the so-called Essential Visibility Graph (EVG) is first developed. Then, a re-planning procedure updating the EVG over a selected prediction time interval is proposed, accounting for the presence of multiple flying vehicles or movable obstacles. The use of Dubins curves allows obtaining smooth paths, compliant with flight mechanics constraints. In view of possible future applications in hybrid scenarios where both manned and unmanned aircraft share the airspace, visual flight rules compliant with International Civil Aviation Organization (ICAO) Annex II Right of Way were implemented. An extensive campaign of numerical simulations was carried out to test the effectiveness of the proposed technique by setting different operational scenarios of increasing complexity. Results show that the algorithm is always able to identify trajectories compliant with ICAO rules for avoiding collisions and assuring a minimum safety distance as well. Furthermore, the low computational burden suggests that the proposed procedure can be considered a promising approach for real-time applications.

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Path Planning for Multi-UAV Formation Rendezvous Based on Distributed Cooperative Particle Swarm Optimization

Cited by 65 publications

References 40 publications

Virtual Reality Technology of Multi UAVEarthquake Disaster Path Optimization

Virtual Reality Technology of Multi UAVEarthquake Disaster Path Optimization

A review of cooperative path planning of an unmanned aerial vehicle group

Path Planning and Real-Time Collision Avoidance Based on the Essential Visibility Graph

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