Path Planning for Multi-Copter UAV Formation Employing a Generalized Particle Swarm Optimization
Fuente:
arXiv
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| Autore principale: | |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866909453570277376 |
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| author | Hoang, Van Truong |
| author_facet | Hoang, Van Truong |
| contents | The paper investigates the problem of path planning techniques for multi-copter uncrewed aerial vehicles (UAV) cooperation in a formation shape to examine surrounding surfaces. We first describe the problem as a joint objective cost for planning a path of the formation centroid working in a complicated space. The path planning algorithm, named the generalized particle swarm optimization algorithm, is then presented to construct an optimal, flyable path while avoiding obstacles and ensuring the flying mission requirements. A path-development scheme is then incorporated to generate a relevant path for each drone to maintain its position in the formation configuration. Simulation, comparison, and experiments have been conducted to verify the proposed approach. Results show the feasibility of the proposed path-planning algorithm with GEPSO. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_05770 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Path Planning for Multi-Copter UAV Formation Employing a Generalized Particle Swarm Optimization Hoang, Van Truong Robotics Systems and Control The paper investigates the problem of path planning techniques for multi-copter uncrewed aerial vehicles (UAV) cooperation in a formation shape to examine surrounding surfaces. We first describe the problem as a joint objective cost for planning a path of the formation centroid working in a complicated space. The path planning algorithm, named the generalized particle swarm optimization algorithm, is then presented to construct an optimal, flyable path while avoiding obstacles and ensuring the flying mission requirements. A path-development scheme is then incorporated to generate a relevant path for each drone to maintain its position in the formation configuration. Simulation, comparison, and experiments have been conducted to verify the proposed approach. Results show the feasibility of the proposed path-planning algorithm with GEPSO. |
| title | Path Planning for Multi-Copter UAV Formation Employing a Generalized Particle Swarm Optimization |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2501.05770 |