A two-stage optimization model for flight path planning of cooperative UAVs in formation flight in the presence of polygonal obstacles and no-fly zones is proposed. Adopting a Visibility Graph (VG) approach, the virtual formation leader plans its flight path composed of circular arcs and segments connecting obstacles vertices. Then groups of obstacles, being not permeable by the flight formation without UAVs separation or formation shape deformation, are clustered and the VG is revised with the addition of so called rendez-vous waypoints, forcing the formation to be recomposed at a given location beyond groups of obstacles. Such rendez-vous waypoints are optimized at a higher hierarchical level with respect to the flight path optimization leading to a Stackelberg game. The validity of the proposed approach and optimization model is shown by means of numerical simulations where flight paths are obtained calculating shortest path on the revised Visibility Graph and waypoints positions are optimized via a genetic algorithm. Finally, anti-collision among UAVs is achieved via a simple potential based method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Bi-level flight path optimization for UAV formations


    Beteiligte:


    Erscheinungsdatum :

    01.06.2017


    Format / Umfang :

    1121660 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Effect of ice formations on airplane performance in level cruising flight

    Preston, G. Merritt / Blackman, Calvin C. | TIBKAT | 1948


    Effects of Ice Formations on Airplane Performance in Level Cruising Flight

    Preston, G. Merritt / Blackman, Calvin C. | NTRS | 1948


    Effects of ice formations on airplane performance in level cruising flight

    Preston, G.M. / Blackman, C.C. | Engineering Index Backfile | 1948


    PATH FOLLOWING IN VEHICLE FORMATIONS

    RANDS JOSHUA / CREABY JUSTIN / SIGHTS BRANDON | Europäisches Patentamt | 2022

    Freier Zugriff

    Path following in vehicle formations

    RANDS JOSHUA / CREABY JUSTIN / SIGHTS BRANDON | Europäisches Patentamt | 2023

    Freier Zugriff