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• W3137807726 endingPage "117665" @default.
• W3137807726 startingPage "117665" @default.
• W3137807726 abstract "Existing studies on formation control for unmanned aerial vehicles (UAV) have not considered encircling targets where an optimum coverage of the target is required at all times. Such coverage plays a critical role in many real-world applications such as tracking hostile UAVs. This paper proposes a new path planning approach called the Flux Guided (FG) method, which generates collision-free trajectories for multiple UAVs while maximising the coverage of target(s). Our method enables UAVs to track directly toward a target whilst maintaining maximum coverage. Furthermore, multiple scattered targets can be tracked by scaling the formation during flight. FG is highly scalable since it only requires communication between sub-set of UAVs on the open boundary of the formation’s surface. Experimental results further validate that FG generates UAV trajectories 1.5× shorter than previous work and that trajectory planning for 9 leader/follower UAVs to surround a target in two different scenarios only requires 0.52 s and 0.88 s, respectively. The resulting trajectories are suitable for robotic controls after time-optimal parameterisation; we demonstrate this using a 3d dynamic particle system that tracks the desired trajectories using a PID controller." @default.
• W3137807726 created "2021-03-29" @default.
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• W3137807726 date "2022-11-01" @default.
• W3137807726 modified "2023-10-18" @default.
• W3137807726 title "Formation control for UAVs using a Flux Guided approach" @default.
• W3137807726 cites W1881810125 @default.
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• W3137807726 doi "https://doi.org/10.1016/j.eswa.2022.117665" @default.
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