eprintid: 3556
rev_number: 9
eprint_status: archive
userid: 285
dir: disk0/00/00/35/56
datestamp: 2019-09-16 02:14:50
lastmod: 2019-09-16 02:14:50
status_changed: 2019-09-16 02:14:50
type: conference_item
metadata_visibility: show
creators_name: Hoang, Van Truong
creators_name: Phung, Manh Duong
creators_name: Dinh, Tran Hiep
creators_name: Zhu, Qiuchen
creators_name: Quang, Ha
creators_id: VanTruong.Hoang@student.uts.edu.au
creators_id: duongpm@vnu.edu.vn
creators_id: tranhiep.dinh@vnu.edu.vn
creators_id: Qiuchen.Zhu@student.uts.edu.au
creators_id: quang.ha@uts.edu.au
title: Reconfigurable Multi-UAV Formation Using Angle-Encoded PSO
ispublished: pub
subjects: ECE
abstract: 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
date_type: published
full_text_status: public
pres_type: paper
pagerange: 1670-1675
event_title: 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)
event_location: Vancouver, BC, Canada
event_dates: 22-26 August 2019
event_type: conference
refereed: TRUE
citation:   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.     
document_url: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/3556/1/2019_CASE_PaperSuCT6.1_0122_FI.pdf