Path Planning of UAV Formations using New Potential Field and Cluster Analysis
In this paper, a new method to calculate flight paths of multiple unmanned aerial vehicles is proposed. The proposed method incorporates the drag reduction effect of formation flying to reduce energy consumption. In order to make best use of the drag reduction effect, the proposed method uses cluster analysis to classify targets. Also, a new shaped field is proposed to obtain efficient paths around obstacles. Test cases showed that the proposed method can successfully calculate efficient paths for multiple vehicles, and results of cluster analysis can be used to suppress combinatorial explosion in obstacle rich environments. However there are still more room left for improvements, especially in the dissimilarity function used for cluster analysis.
UAV formation flying path planning cluster analysis
Takuma Hino Takeshi Tsuchiya
Department of Aeronautics and Astronautics, School of Engineering, University of Tokyo Japan, 113–8656 Tokyo, Bunkyoku, Hongo 7–3–1, Engineering Bldg.71
国际会议
2011年亚太航空航天技术学术会议(APISAT 2011)
澳大利亚
英文
1-10
2011-02-28（万方平台首次上网日期，不代表论文的发表时间）