relation: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/3556/
title: Reconfigurable Multi-UAV Formation Using Angle-Encoded PSO
creator: Hoang, Van Truong
creator: Phung, Manh Duong
creator: Dinh, Tran Hiep
creator: Zhu, Qiuchen
creator: Quang, Ha
subject: Electronics and Communications
description: 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.
date: 2019-08-22
type: Conference or Workshop Item
type: PeerReviewed
format: application/pdf
language: en
identifier: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/3556/1/2019_CASE_PaperSuCT6.1_0122_FI.pdf
identifier:   Hoang, Van Truong and Phung, Manh Duong and Dinh, Tran Hiep and Zhu, Qiuchen and Quang, Ha  (2019) Reconfigurable Multi-UAV Formation Using Angle-Encoded PSO.  In: 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 22-26 August 2019, Vancouver, BC, Canada.