Path Planning for a UAV Swarm Using Formation Teaching-Learning-Based Optimization

This work addresses the path planning problem for a group of unmanned aerial vehicles (UAVs) to maintain a desired formation during operation. Our approach formulates the problem as an optimization task by defining a set of fitness functions that not only ensure the formation but also include constr...

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Vydané v:E3S web of conferences Ročník 626; s. 4001
Hlavní autori: Hoang, Van Truong, Phung, Manh Duong
Médium: Journal Article Konferenčný príspevok..
Jazyk:English
Vydavateľské údaje: Les Ulis EDP Sciences 01.01.2025
Predmet:
Algorithms
Machine learning
Optimization
Path planning
Unmanned aerial vehicles
ISSN:2267-1242, 2555-0403, 2267-1242
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Shrnutí:This work addresses the path planning problem for a group of unmanned aerial vehicles (UAVs) to maintain a desired formation during operation. Our approach formulates the problem as an optimization task by defining a set of fitness functions that not only ensure the formation but also include constraints for optimal and safe UAV operation. To optimize the fitness function and obtain a suboptimal path, we employ the teaching-learning-based optimization algorithm and then further enhance it with mechanisms such as mutation, elite strategy, and multi-subject combination. A number of simulations and experiments have been conducted to evaluate the proposed method. The results demonstrate that the algorithm successfully generates valid paths for the UAVs to fly in a triangular formation for an inspection task.
Bibliografia:ObjectType-Conference Proceeding-1
SourceType-Conference Papers & Proceedings-1
content type line 21
ISSN:2267-1242
2555-0403
2267-1242
DOI:10.1051/e3sconf/202562604001