TY - JOUR
T1 - Path Planning and Collision Avoidance of Multiple UAV System Based on Particle Swarm Optimization with Kinematic Consideration
AU - Cheng, Yu Ju
AU - Shui, Hsiu Tsu
AU - Chen, Chih Chun
AU - Lai, Ying Chih
N1 - Publisher Copyright:
© 2024 The Aeronautical and Astronautical Society of the Republic of China. All rights reserved.
PY - 2024
Y1 - 2024
N2 - 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.
AB - 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.
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U2 - 10.6125/JoAAA.202403_56(1).07
DO - 10.6125/JoAAA.202403_56(1).07
M3 - Article
AN - SCOPUS:85185156968
SN - 1990-7710
VL - 56
SP - 65
EP - 75
JO - Journal of Aeronautics, Astronautics and Aviation
JF - Journal of Aeronautics, Astronautics and Aviation
IS - 1
ER -