TY - GEN
T1 - Reference Path Planning for UAVs Formation Flight Based on PH Curve
AU - Shao, Zhuang
AU - Zhou, Zhou
AU - Qu, Gaomin
AU - Zhu, Xiaoping
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - Formation flight of Unmanned aerial vehicles (UAVs) has become a research hotspot in recent years. How to plan a flyable path for UAV formation when flying with a given configuration to the destination safely is an important technology. Therefore, this paper proposes a path planning method based on Pythagorean Hodograph (PH) curves and Delaunay triangulation to generate a flyable reference path for UAV formation. Firstly, the kinematic constraints of the formation path are derived, while the formation moves. Secondly, the Delaunay triangulation and the Warshall-Floyd algorithm are used to obtain the best waypoints array from starting point to destination. Thirdly, the PH curves are applied to connect each two neighbour waypoints for meeting the kinematic constraints. The multi-population hybrid particle swarm genetic algorithm is proposed to generate an optimal flyable formation path. Finally, simulations are carried out considering a formation with three UAVs in a complicated environment. The simulation results show that the paths planned are connected by several PH curves, and all the paths can meet the kinematic constraints, avoid the obstacles and threat zones. Furthermore, the single population particle swarm genetic algorithm is also applied in the same simulation, and the simulation results show that the multi-population hybrid particle swarm genetic algorithm proposed in this paper has faster convergence speed and better stability.
AB - Formation flight of Unmanned aerial vehicles (UAVs) has become a research hotspot in recent years. How to plan a flyable path for UAV formation when flying with a given configuration to the destination safely is an important technology. Therefore, this paper proposes a path planning method based on Pythagorean Hodograph (PH) curves and Delaunay triangulation to generate a flyable reference path for UAV formation. Firstly, the kinematic constraints of the formation path are derived, while the formation moves. Secondly, the Delaunay triangulation and the Warshall-Floyd algorithm are used to obtain the best waypoints array from starting point to destination. Thirdly, the PH curves are applied to connect each two neighbour waypoints for meeting the kinematic constraints. The multi-population hybrid particle swarm genetic algorithm is proposed to generate an optimal flyable formation path. Finally, simulations are carried out considering a formation with three UAVs in a complicated environment. The simulation results show that the paths planned are connected by several PH curves, and all the paths can meet the kinematic constraints, avoid the obstacles and threat zones. Furthermore, the single population particle swarm genetic algorithm is also applied in the same simulation, and the simulation results show that the multi-population hybrid particle swarm genetic algorithm proposed in this paper has faster convergence speed and better stability.
KW - Delaunay triangulation
KW - Formation flight
KW - Path planning
KW - PH curve
KW - Unmanned aerial vehicles (UAV)
UR - http://www.scopus.com/inward/record.url?scp=85140449379&partnerID=8YFLogxK
U2 - 10.1007/978-981-19-2635-8_12
DO - 10.1007/978-981-19-2635-8_12
M3 - 会议稿件
AN - SCOPUS:85140449379
SN - 9789811926341
T3 - Lecture Notes in Electrical Engineering
SP - 155
EP - 168
BT - The Proceedings of the 2021 Asia-Pacific International Symposium on Aerospace Technology APISAT 2021, Volume 2
A2 - Lee, Sangchul
A2 - Han, Cheolheui
A2 - Choi, Jeong-Yeol
A2 - Kim, Seungkeun
A2 - Kim, Jeong Ho
PB - Springer Science and Business Media Deutschland GmbH
T2 - Asia-Pacific International Symposium on Aerospace Technology, APISAT 2021
Y2 - 15 November 2021 through 17 November 2021
ER -