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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| Vydáno v: | E3S web of conferences Ročník 626; s. 4001 |
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| Médium: | Journal Article Konferenční příspěvek |
| Jazyk: | angličtina |
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Les Ulis
EDP Sciences
01.01.2025
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| ISSN: | 2267-1242, 2555-0403, 2267-1242 |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Hoang, Van Truong Phung, Manh Duong |
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| Cites_doi | 10.1109/TAES.2018.2807558 10.1007/s10846-018-0861-1 10.1016/j.ijleo.2020.165213 10.1109/IROS.2018.8593930 10.1007/978-3-030-99666-6_107 10.54939/1859-1043.j.mst.87.2023.32-39 10.3390/drones7010062 10.1016/j.ijhydene.2013.12.110 10.1007/s11370-022-00429-3 10.1007/s11831-022-09742-7 10.1109/ASCC.2017.8287250 10.1016/j.cad.2010.12.015 10.5267/j.ijiec.2012.03.007 10.1109/JSYST.2019.2922290 10.3390/s21134414 10.1007/s13369-021-05710-8 10.26689/jera.v6i2.3808 |
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| DOI | 10.1051/e3sconf/202562604001 |
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| References | Rao (R10) 2011; 43 Van Truong (R14) 2023; 87 López (R2) 2021; 21 R8 Sabiha (R12) 2022; 15 Yang (R1) 2023; 7 Niu (R15) 2014; 39 Majumder (R11) 2021; 46 Song (R7) 2022; 6 D’Amato (R3) 2019; 93 Huang (R4) 2020; 221 Pan (R5) 2021; 69 Roberge (R6) 2018; 54 Hoang (R18) 2020; 14 Ait Saadi (R9) 2022; 29 R13 R17 Rao (R16) 2012; 3 |
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