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
  • [31] Nonlinear control for collision-free navigation of UAV fleet
    Alexander Martinez Alvarez
    Carlos Alberto Lozano Espinosa
    SN Applied Sciences, 2019, 1
  • [32] Employing Simulators for Collision-Free Autonomous UAV Navigation
    Blaga, Bianca-Cerasela-Zelia
    Nedevschi, Sergiu
    2022 IEEE 18TH INTERNATIONAL CONFERENCE ON INTELLIGENT COMPUTER COMMUNICATION AND PROCESSING, ICCP, 2022, : 313 - 318
  • [33] Real-time collision-free linear trajectory generation on GPU for crowd simulations
    Oner Barut
    Murat Haciomeroglu
    The Visual Computer, 2015, 31 : 843 - 852
  • [34] Real-time collision-free linear trajectory generation on GPU for crowd simulations
    Barut, Oner
    Haciomeroglu, Murat
    VISUAL COMPUTER, 2015, 31 (6-8): : 843 - 852
  • [35] Collision-Free Trajectory Planning for Multi-UAV Coordinated Ground Attack Mission under Uncertainties
    Tang, Jiayu
    Li, Xiangmin
    Dai, Jinjin
    Bo, Ning
    2019 11TH INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS (IHMSC 2019), VOL 1, 2019, : 89 - 92
  • [36] OPTIMAL PLANNING OF A COLLISION-FREE TRAJECTORY OF REDUNDANT MANIPULATORS
    GALICKI, M
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1992, 11 (06): : 549 - 559
  • [37] COLLISION-FREE TRAJECTORY PLANNING FOR 2 ROBOT ARMS
    SHIN, Y
    BIEN, Z
    ROBOTICA, 1989, 7 : 205 - 212
  • [38] Collision-free and smooth trajectory computation in cluttered environments
    Pan, Jia
    Zhang, Liangjun
    Manocha, Dinesh
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2012, 31 (10): : 1155 - 1175
  • [39] Collision-free Trajectory Planning for Autonomous Surface Vehicle
    Wen, Licheng
    Yan, Jiaqing
    Yang, Xuemeng
    Liu, Yong
    Gu, Yong
    2020 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2020, : 1098 - 1105
  • [40] Particle Swarm Optimization for collision-free 4D trajectory planning in Unmanned Aerial Vehicles
    Alejo, D.
    Cobano, J. A.
    Heredia, G.
    Ollero, A.
    2013 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS), 2013, : 298 - 307
12345