Path Planning of UAV Formations Based on Semantic Maps

This paper primarily studies the path planning problem for UAV formations guided by semantic map information. Our aim is to integrate prior information from semantic maps to provide initial information on task points for UAV formations, thereby planning formation paths that meet practical requiremen...

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Vydáno v:	Remote sensing (Basel, Switzerland) Ročník 16; číslo 16; s. 3096
Hlavní autoři:	Sun, Tianye, Sun, Wei, Sun, Changhao, He, Ruofei
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Basel MDPI AG 01.08.2024
Témata:	Algorithms angle optimization Clustering Environmental impact Environmental information equations flight Formations improved fuzzy clustering algorithm Information processing Integer programming Linear programming Optimization algorithms Optimization models Path planning Planning Remote sensing sample size semantic maps Semantic segmentation Semantics Teaching methods Trajectory optimization UAV formations Unmanned aerial vehicles
ISSN:	2072-4292, 2072-4292
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Abstract	This paper primarily studies the path planning problem for UAV formations guided by semantic map information. Our aim is to integrate prior information from semantic maps to provide initial information on task points for UAV formations, thereby planning formation paths that meet practical requirements. Firstly, a semantic segmentation network model based on multi-scale feature extraction and fusion is employed to obtain UAV aerial semantic maps containing environmental information. Secondly, based on the semantic maps, a three-point optimization model for the optimal UAV trajectory is established, and a general formula for calculating the heading angle is proposed to approximately decouple the triangular equation of the optimal trajectory. For large-scale formations and task points, an improved fuzzy clustering algorithm is proposed to classify task points that meet distance constraints by clusters, thereby reducing the computational scale of single samples without changing the sample size and improving the allocation efficiency of the UAV formation path planning model. Experimental data show that the UAV cluster path planning method using angle-optimized fuzzy clustering achieves an 8.6% improvement in total flight range compared to other algorithms and a 17.4% reduction in the number of large-angle turns.
AbstractList	This paper primarily studies the path planning problem for UAV formations guided by semantic map information. Our aim is to integrate prior information from semantic maps to provide initial information on task points for UAV formations, thereby planning formation paths that meet practical requirements. Firstly, a semantic segmentation network model based on multi-scale feature extraction and fusion is employed to obtain UAV aerial semantic maps containing environmental information. Secondly, based on the semantic maps, a three-point optimization model for the optimal UAV trajectory is established, and a general formula for calculating the heading angle is proposed to approximately decouple the triangular equation of the optimal trajectory. For large-scale formations and task points, an improved fuzzy clustering algorithm is proposed to classify task points that meet distance constraints by clusters, thereby reducing the computational scale of single samples without changing the sample size and improving the allocation efficiency of the UAV formation path planning model. Experimental data show that the UAV cluster path planning method using angle-optimized fuzzy clustering achieves an 8.6% improvement in total flight range compared to other algorithms and a 17.4% reduction in the number of large-angle turns.
Author	Sun, Wei Sun, Changhao Sun, Tianye He, Ruofei
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SubjectTerms	Algorithms angle optimization Clustering Environmental impact Environmental information equations flight Formations improved fuzzy clustering algorithm Information processing Integer programming Linear programming Optimization algorithms Optimization models Path planning Planning Remote sensing sample size semantic maps Semantic segmentation Semantics Teaching methods Trajectory optimization UAV formations Unmanned aerial vehicles
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Title	Path Planning of UAV Formations Based on Semantic Maps
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