Collision-free Trajectory Generation for UAV Swarm Formation Rendezvous

被引：6
|
作者：
Qing, Weiming [1 ,2 ]
Chen, Hao [3 ]
Wang, Xiangke [3 ]
Yin, Yongxin [1 ]
机构：
[1] China Acad Aerosp Aerodynam, CH UAV Dept, Beijing, Peoples R China
[2] Natl Univ Def Technol, Coll Aerosp Sci & Engn, Changsha, Peoples R China
[3] Natl Univ Def Technol, Coll Intelligence Sci & Technol, Changsha, Peoples R China
来源：
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE-ROBIO 2021) | 2021年
基金：
中国国家自然科学基金;
关键词：
D O I：
10.1109/ROBIO54168.2021.9739428
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes offline and online solutions to deal with a collision-free trajectory generation problem for unmanned aerial vehicle (UAV) swarm formation rendezvous. This method consists of two stages: 1) finding a geometric path based on improved ant colony optimization (ACO) with elite strategy and using minimum-snap algorithm with safe corridors to obtain feasible original trajectories so that the spatial-temporal constraints can be satisfied; 2) incorporating the zeroing control barrier function (ZCBF) constraints and the previous trajectories into the optimal problem to meet safety-critical requirement both for static obstacles and inter-UAV avoidance. The proposed method is tested in numerical simulation and the results demonstrate the efficacy in both dynamic constraints and safety constraints for the swarm.
引用
收藏
页码：1861 / 1867
页数：7
相关论文
共 50 条
  • [1] Collision-free swarm take-off based on trajectory analysis and UAV grouping
    Sastre, Carles
    Wubben, Jamie
    Calafate, Carlos T.
    Carlos Cano, Juan
    Manzoni, Pietro
    2022 IEEE 23RD INTERNATIONAL SYMPOSIUM ON A WORLD OF WIRELESS, MOBILE AND MULTIMEDIA NETWORKS (WOWMOM 2022), 2022, : 477 - 482
  • [2] A Generalization of the CHOMP Algorithm for UAV Collision-Free Trajectory Generation in Unknown Dynamic Environments
    Men, Jiayu
    Carrion, Jesus Requena
    2020 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR 2020), 2020, : 96 - 101
  • [3] Collision-Free Maneuvering for a UAV Swarm Based on Parallel Control
    Li, Jiacheng
    Ma, Wenhui
    Fang, YangWang
    Yu, Dengxiu
    Chen, C. L. Philip
    IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 2025, 12 (04) : 761 - 775
  • [4] Collision-Free Trajectory Generation for Multiple UAVs with Sensing Constraints
    Li, Ruocheng
    Yang, Qingkai
    Zhao, Weipeng
    Fang, Hao
    2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC), 2021, : 5592 - 5597
  • [5] Neural network approaches to dynamic collision-free trajectory generation
    Yang, SX
    Meng, M
    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2001, 31 (03): : 302 - 318
  • [6] Distributed Model Predictive Control with Particle Swarm Optimizer for Collision-Free Trajectory Tracking of MWMR Formation
    Zhang, Tian
    Zhang, Xiangyin
    ACTUATORS, 2023, 12 (03)
  • [7] Robust collision-free formation control of quadrotor fleets: Trajectory generation and tracking with experimental validation
    Xie, Wei
    Yu, Gan
    Cabecinhas, David
    Silvestre, Carlos
    Zhang, Weidong
    He, Wei
    CONTROL ENGINEERING PRACTICE, 2024, 145
  • [8] CoLoss-GAN: Collision-Free Human Trajectory Generation with a Collision Loss and GAN
    Moder, Martin
    Pauli, Josef
    2021 20TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR), 2021, : 625 - 632
  • [9] Collision-free UAV Formation Flight Control based on Nonlinear MPC
    Zhou Chao
    Lei Ming
    Zhou Shaolei
    Zhang Wenguang
    2011 INTERNATIONAL CONFERENCE ON ELECTRONICS, COMMUNICATIONS AND CONTROL (ICECC), 2011, : 1951 - 1956
  • [10] Collision-Free Trajectory Generation for UAVs Using Markov Decision Process
    Yu, Xiang
    Zhou, Xiaobin
    Zhang, Youmin
    2017 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS'17), 2017, : 56 - 61
12345