Flatness-based finite-horizon multi-UAV formation trajectory planning and directionally aware collision avoidance tracking

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00384232" target="_blank" >RIV/68407700:21230/25:00384232 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1016/j.jfranklin.2025.107867" target="_blank" >https://doi.org/10.1016/j.jfranklin.2025.107867</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.jfranklin.2025.107867" target="_blank" >10.1016/j.jfranklin.2025.107867</a>

Result language

angličtina

Original language name

Flatness-based finite-horizon multi-UAV formation trajectory planning and directionally aware collision avoidance tracking

Original language description

Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative collision-free finite-time formation control scheme for multiple UAVs leveraging the differential flatness of the UAV dynamics, eliminating the need for numerical methods. We formulate a finite-time optimal control problem to plan a formation trajectory for feasible initial states. This optimal control problem in formation trajectory planning involves a collective performance index to meet the formation requirements to achieve relative positions and velocity consensus. It is solved by applying Pontryagin's principle. Subsequently, a collision-constrained regulating problem is addressed to ensure collision-free tracking of the planned formation trajectory. The tracking problem incorporates a directionally aware collision avoidance strategy that prioritizes avoiding UAVs in the forward path and relative approach. It assigns lower priority to those on the sides with an oblique relative approach, disregarding UAVs behind and not in the relative approach. The high-fidelity simulation results validate the effectiveness of the proposed control scheme.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2025

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Journal of the Franklin Institute

ISSN

0016-0032

e-ISSN

1879-2693

Volume of the periodical

362

Issue of the periodical within the volume

12

Country of publishing house

GB - UNITED KINGDOM

Number of pages

24

Pages from-to

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UT code for WoS article

001536819900001

EID of the result in the Scopus database

2-s2.0-105010220036