This paper proposes a distributed method for optimal trajectory planning in formations of multiple Unmanned Aerial Vehicles supporting inspection and maintenance tasks of wind turbines. Since wind turbines are usually located at places of difficult access and exposed to strong wind gusts, UAVs become a valuable asset for these risky operations. The system consists of a leader-follower formation where one UAV visits a series of inspection points indicated by a human operator on the ground, while the others follow it keeping relative angles to provide alternative inspection views. The distance of the formation to the inspection points and the relative angles can be modified by the operator online, who can command the multi-camera system as a whole. Our optimization scheme results in trajectories that allow the formation to adapt its shape in real time by means of smooth and safe trajectories, avoiding jerky movements to produce pleasant images and collisions. We present experimental results in realistic simulations.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Distributed Trajectory Planning for a Formation of Aerial Vehicles Inspecting Wind Turbines


    Contributors:


    Publication date :

    2022-06-21


    Size :

    2800144 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Distributed Formation Planning for Unmanned Aerial Vehicles

    Zeming Zhao / Xiaozhen Zhang / Hao Fang et al. | DOAJ | 2025

    Free access

    Trajectory Planning of Multiple Unmanned Aerial Vehicles on MAPPO

    Fang, Jun / Wu, Xiaohang / Li, Shunmin et al. | Springer Verlag | 2025


    Safe Corridor Constrained Trajectory Planning for Formation Flight of Fixed-Wing Unmanned Aerial Vehicles

    Ji, Jialin / Peng, Yiyang / Zhao, Changchun et al. | Springer Verlag | 2024



    Unmanned Aerial Vehicles for Mapping and Inspecting Historical Constructions

    Feretzakis, Alexandros / Badogiannis, Efstratios | TIBKAT | 2022