TY  - CONF
ID  - SisLab3556
UR  - https://eprints.uet.vnu.edu.vn/eprints/id/eprint/3556/
A1  - Hoang, Van Truong
A1  - Phung, Manh Duong
A1  - Dinh, Tran Hiep
A1  - Zhu, Qiuchen
A1  - Quang, Ha
Y1  - 2019/08/22/
N2  - 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 ?-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.
TI  - Reconfigurable Multi-UAV Formation Using Angle-Encoded PSO
SP  - 1670
M2  - Vancouver, BC, Canada
AV  - public
EP  - 1675
T2  - 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)
ER  -