Reconfigurable Multi-UAV Formation Using Angle-Encoded PSO

In this paper, we propose an algorithm for the formation of multiple UAVs used in vision-based inspection of infrastructure. A path planning algorithm is first developed by using a variant of the particle swarm optimisation, named θ-PSO, to generate a feasible path for the overall formation configuration taken into account the constraints for visual inspection. Here, we introduced a cost function that includes various constraints on flight safety and visual inspection. A reconfigurable topology is then added based on the use of intermediate waypoints to allow the formation to avoid collision with obstacles during operation. The planned path and formation are then combined to derive the trajectory and velocity profiles for each UAV. Experiments have been conducted for the task of inspecting a light rail bridge. The results confirmed the validity and effectiveness of the proposed algorithm.

• Publication year

  2019

• Venue

  2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)

• Publication date

  2019-08-01

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1109/COASE.2019.8843165arXiv 1909.03352
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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