Path Planning and Collision Avoidance of Multiple UAV System Based on Particle Swarm Optimization with Kinematic Consideration

Yu Ju Cheng, Hsiu Tsu Shui, Chih Chun Chen, Ying Chih Lai

研究成果: Article同行評審

1 引文 斯高帕斯(Scopus)

摘要

In recent years, the number of unmanned aerial vehicles (UAVs) has continued to increase, the scope of use has become more and more extensive, and multiple UAV system has attracted more and more attention due to their advantages in time efficiency, complementarity, and flexibility compared to single UAVs. Among them, path planning and collision avoidance are the most important topics for multi-UAV systems. To this end, this paper proposes a path planning method that can be executed in the real world to plan optimal collision-free paths for multiple UAVs. The proposed method is based on the particle swarm optimization (PSO) with a mathematical model considering the kinematics of multiple UAVs. The computation of using acceleration and velocity to generate waypoints, and an objective function with three sub-objective functions are proposed for the shortest total path length and lowest collision risk. At last, simulations and real flight experiments respectively verify the feasibility in a variety of different cases, and the results compare that this method is significantly better than the method that only considers the UAV as a constant speed and can be executed in the real world.

原文English
頁(從 - 到)65-75
頁數11
期刊Journal of Aeronautics, Astronautics and Aviation
56
發行號1
DOIs
出版狀態Published - 2024

All Science Journal Classification (ASJC) codes

  • 航空工程
  • 空間與行星科學

指紋

深入研究「Path Planning and Collision Avoidance of Multiple UAV System Based on Particle Swarm Optimization with Kinematic Consideration」主題。共同形成了獨特的指紋。

引用此