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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

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

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2025

Kód důvěrnosti údajů

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

Název periodika

Journal of the Franklin Institute

ISSN

0016-0032

e-ISSN

1879-2693

Svazek periodika

362

Číslo periodika v rámci svazku

12

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

24

Strana od-do

—

Kód UT WoS článku

001536819900001

EID výsledku v databázi Scopus

2-s2.0-105010220036