This study investigates the challenges associated with achieving synchronized arrivals in unmanned aerial vehicle (UAV) formations through an integrated approach to trajectory optimization and waypoint allocation. By implementing advanced optimization algorithms, including the Hungarian method, and utilizing Dubins paths for controlled trajectory adjustments, this methodology ensures that all UAVs reach their designated waypoints concurrently, complying with predefined speed and heading constraints. Simulations conducted within a digital twin environment validate the effectiveness of the approach, demonstrating significant reductions in total path length and formation time, thereby enhancing operational efficiency. We introduce innovative modifications to traditional trajectory planning by focusing on minimal adjustments to the initial turning radius, which maintains compliance with trajectory requirements while optimizing the formation’s dynamic responses. The proposed strategies enhance operational adaptability to various initial conditions and offer marked improvements over traditional methods in convergence speed and efficiency.
Efficient Path Planning for UAV Formation Using Dubins Paths
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024
2025-03-08
10 pages
Article/Chapter (Book)
Electronic Resource
English
Co-operative path planning of multiple UAVs using Dubins paths with clothoid arcs
Tema Archive | 2010
|Path Planning of Multiple UAVs Using Dubins Sets
AIAA | 2005
|Cooperative Road-Network Search Planning of Multiple UAVs Using Dubins Paths
British Library Conference Proceedings | 2011
|