On collaborative path planning for multiple UAVs based on Pythagorean Hodograph curve

2016 ◽  
Author(s):  
Xiuxia Yang ◽  
Weiwei Zhou ◽  
Yi Zhang
Keyword(s):  
Path Planning ◽  
Multiple Uavs ◽  
Pythagorean Hodograph

Path Planning of Multiple UAV’s in an Environment of Restricted Regions

2005 ◽  
Author(s):  
Madhavan Shanmugavel ◽  
Antonios Tsourdos ◽  
Rafal Zbikowski ◽  
Brian White
Keyword(s):  
Path Planning ◽  
Path Length ◽  
Mathematical Property ◽  
Multiple Uavs ◽  
Safety Margins ◽  
Pythagorean Hodograph ◽  
Offset Curves ◽  
Safety Constraints ◽  
Continuous Curvature ◽  
Ph Curve

This paper describes a novel idea of path planning for multiple UAVs (Unmanned Aerial Vehicles). The path planning ensures safe and simultaneous arrival of the UAVs to the target while meeting curvature and safety constraints. Pythagorean Hodograph (PH) curve is used for path planning. The PH curve provides continuous curvature of the paths. The offset curves of the PH paths define safety margins around and along each flight path. The simultaneous arrival is satisfied by generation of paths of equal lengths. This paper highlights the mathematical property — changing path-shape and path-length by manipulating the curvature and utilises this to achieve the following constraints: (i) Generation of paths of equal length, (ii) Achieving maximum bound on curvature, and, (iii) Meeting the safety constraints by offset paths.

scholarly journals Collision free 4D path planning for multiple UAVs based on spatial refined voting mechanism and PSO approach

2019 ◽  
Vol 32 (6) ◽  
pp. 1504-1519 ◽  
Author(s):  
Yang LIU ◽  
Xuejun ZHANG ◽  
Yu ZHANG ◽  
Xiangmin GUAN
Keyword(s):  
Path Planning ◽  
Multiple Uavs ◽  
Voting Mechanism

A solution to simultaneous arrival of multiple UAVs using Pythagorean hodograph curves

2006 ◽  
Author(s):  
M. Shanmugavel ◽  
A. Tsourdos ◽  
R. Zbikowski ◽  
B.A. White ◽  
C.A. Rabbath ◽  
...  
Keyword(s):  
Multiple Uavs ◽  
Pythagorean Hodograph

Co-operative path planning of multiple UAVs using Dubins paths with clothoid arcs

2010 ◽  
Vol 18 (9) ◽  
pp. 1084-1092 ◽  
Author(s):  
Madhavan Shanmugavel ◽  
Antonios Tsourdos ◽  
Brian White ◽  
Rafał Żbikowski
Keyword(s):  
Path Planning ◽  
Multiple Uavs

Survey of Cooperative Path Planning for Multiple Unmanned Aerial Vehicles

2014 ◽  
Vol 668-669 ◽  
pp. 388-393 ◽  
Author(s):  
Xiao Ming Cheng ◽  
Dong Cao ◽  
Chun Tao Li
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Cooperative Control ◽  
Control Methods ◽  
Future Time ◽  
Research Directions ◽  
Aerial Vehicles ◽  
Multiple Uavs ◽  
Problem Description ◽  
Multiple Unmanned Aerial Vehicles

As an important part of cooperative control for multiple unmanned aerial vehicles (UAVs), cooperative path planning can get optimal flight path which can satisfy different constraints. Research on cooperative path planning for multiple UAVs is summarized in this paper. Firstly, problem description and constraints are given. Then, solution frameworks and path coordination approaches are summarized. After that, several control methods commonly used in formation of multiple UAVs are introduced respectively. Lastly, possible research directions in the future time are put forward.

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