Discrete space-based route planning for rotary-wing UAV formation in urban environments

Yu Wu; Kin Huat Low

doi:10.1016/j.isatra.2021.12.043

Discrete space-based route planning for rotary-wing UAV formation in urban environments

ISA Trans. 2022 Oct;129(Pt A):243-259. doi: 10.1016/j.isatra.2021.12.043. Epub 2022 Jan 5.

Authors

Yu Wu¹, Kin Huat Low²

Affiliations

¹ College of Aerospace Engineering, Chongqing University, Chongqing 400044, China; Air Traffic Management Research Institute, Nanyang Technological University, Singapore 637460, Singapore. Electronic address: cquwuyu@cqu.edu.cn.
² School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore.

PMID: 35042618
DOI: 10.1016/j.isatra.2021.12.043

Abstract

The route planning problem for rotary-wing UAV formation is studied in discrete urban environments. First, a discrete-space consensus algorithm (DSCA) integrating asynchronous planning and grouping mechanism is developed to make the rotary-wing UAVs converge to the desired formation. Then the DSCA is combined with the improved rapidly-exploring random tree (IRRT) algorithm to enable the rotary-wing UAV formation to avoid the obstacles. Finally, the time information of waypoints is complemented by resolving the conflicts among multiple rotary-wing UAVs, thus reducing the rotary-wing UAVs' time gap of reaching the destinations. The proposed method extends the original consensus theory in the discrete space and for the obstacle avoidance issue. Also, it is valid in the route planning problem for rotary-wing UAV formation considering the real urban environments.

Keywords: Discrete-space consensus algorithm; Obstacle avoidance; Rotary-wing UAV formation; Route planning; Urban environments.