13 October 2008 An obstacle avoidance of formation method for UAVs
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For the flight formation problem under the danger mode, a method based on the control architecture and decomposition strategy for obstacle avoidance of formation is proposed. Constructing and searching a Voronoi diagram, the reference flight paths for choice are generated based on K shortest path algorithm, then the cooperative function is established, the collision avoidance path is designed for each UAV, which meets both the request of cooperative time and optimal (or second optimal) cost of the whole formation.
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Wei Zhou, Wei Zhou, Rui-Xuan Wei, Rui-Xuan Wei, Ying-Jie Wang, Ying-Jie Wang, Zhi-Xing Dong, Zhi-Xing Dong, "An obstacle avoidance of formation method for UAVs", Proc. SPIE 7128, Seventh International Symposium on Instrumentation and Control Technology: Measurement Theory and Systems and Aeronautical Equipment, 71280H (13 October 2008); doi: 10.1117/12.806459; https://doi.org/10.1117/12.806459


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