Matches in SemOpenAlex for { <https://semopenalex.org/work/W4376274010> ?p ?o ?g. }
- W4376274010 endingPage "2204" @default.
- W4376274010 startingPage "2204" @default.
- W4376274010 abstract "Unmanned aerial vehicles (UAVs) are playing an increasingly crucial role in many applications such as search and rescue, delivery services, and military operations. However, one of the significant challenges in this area is to plan efficient and safe trajectories for UAV formations. This paper presents an optimization procedure for trajectory planning for fixed-wing UAV formations using graph theory and clothoid curves. The proposed planning strategy consists of two main steps. Firstly, the geometric optimization of paths is carried out using graphs for each UAV, providing piece-wise linear paths whose smooth connections are made with clothoids. Secondly, the geometric paths are transformed into time-dependent trajectories, optimizing the assigned aircraft speeds to avoid collisions by solving a mixed-integer optimal control problem for each UAV of the flight formation. The proposed method is effective in achieving suboptimal paths while ensuring collision avoidance between aircraft. A sensitivity analysis of the main parameters of the algorithm was conducted in ideal conditions, highlighting the possibility of decreasing the length of the optimal path by about 4.19%, increasing the number of points used in the discretization and showing a maximum path length reduction of about 10% compared with the average solution obtained with a similar algorithm using a graph based on random directions. Furthermore, the use of clothoids, whose parameters depend on the UAV performance constraints, provides smoother connections, giving a significant improvement over traditional straight-line or circular trajectories in terms of flight dynamics compliance and trajectory tracking capabilities. The method can be applied to various UAV formation scenarios, making it a versatile and practical tool for mission planning." @default.
- W4376274010 created "2023-05-13" @default.
- W4376274010 creator A5039848174 @default.
- W4376274010 creator A5050399810 @default.
- W4376274010 creator A5054793396 @default.
- W4376274010 creator A5091929798 @default.
- W4376274010 date "2023-05-12" @default.
- W4376274010 modified "2023-10-17" @default.
- W4376274010 title "Clothoid-Based Path Planning for a Formation of Fixed-Wing UAVs" @default.
- W4376274010 cites W1540305004 @default.
- W4376274010 cites W1594114333 @default.
- W4376274010 cites W1630241696 @default.
- W4376274010 cites W1984505032 @default.
- W4376274010 cites W1987604987 @default.
- W4376274010 cites W1988053224 @default.
- W4376274010 cites W1992106482 @default.
- W4376274010 cites W1994511420 @default.
- W4376274010 cites W2019586060 @default.
- W4376274010 cites W2023148409 @default.
- W4376274010 cites W2027391043 @default.
- W4376274010 cites W2031351246 @default.
- W4376274010 cites W2033052486 @default.
- W4376274010 cites W2039627949 @default.
- W4376274010 cites W2041917453 @default.
- W4376274010 cites W2049105030 @default.
- W4376274010 cites W2078219854 @default.
- W4376274010 cites W2078980743 @default.
- W4376274010 cites W2081301152 @default.
- W4376274010 cites W2086086997 @default.
- W4376274010 cites W2096526041 @default.
- W4376274010 cites W2116809160 @default.
- W4376274010 cites W2117374887 @default.
- W4376274010 cites W2121750169 @default.
- W4376274010 cites W2127154035 @default.
- W4376274010 cites W2130957631 @default.
- W4376274010 cites W2141209752 @default.
- W4376274010 cites W2142914126 @default.
- W4376274010 cites W2152427109 @default.
- W4376274010 cites W2152454256 @default.
- W4376274010 cites W2155873302 @default.
- W4376274010 cites W2163385431 @default.
- W4376274010 cites W2168003214 @default.
- W4376274010 cites W2169528473 @default.
- W4376274010 cites W2169529464 @default.
- W4376274010 cites W2313274380 @default.
- W4376274010 cites W2317568091 @default.
- W4376274010 cites W2321353921 @default.
- W4376274010 cites W2325643132 @default.
- W4376274010 cites W2327902530 @default.
- W4376274010 cites W2463394261 @default.
- W4376274010 cites W2596795616 @default.
- W4376274010 cites W2602889778 @default.
- W4376274010 cites W2754311268 @default.
- W4376274010 cites W2764297064 @default.
- W4376274010 cites W2779793052 @default.
- W4376274010 cites W2790412092 @default.
- W4376274010 cites W2798000375 @default.
- W4376274010 cites W2800027611 @default.
- W4376274010 cites W2808115698 @default.
- W4376274010 cites W2883947723 @default.
- W4376274010 cites W2953195108 @default.
- W4376274010 cites W2976344064 @default.
- W4376274010 cites W2981426722 @default.
- W4376274010 cites W2981460880 @default.
- W4376274010 cites W2987256267 @default.
- W4376274010 cites W3011792002 @default.
- W4376274010 cites W3092132455 @default.
- W4376274010 cites W3112056039 @default.
- W4376274010 cites W3117520861 @default.
- W4376274010 cites W3118331990 @default.
- W4376274010 cites W3199967553 @default.
- W4376274010 cites W4223526404 @default.
- W4376274010 cites W4223908716 @default.
- W4376274010 cites W4293103913 @default.
- W4376274010 cites W4303980230 @default.
- W4376274010 cites W4313146150 @default.
- W4376274010 doi "https://doi.org/10.3390/electronics12102204" @default.
- W4376274010 hasPublicationYear "2023" @default.
- W4376274010 type Work @default.
- W4376274010 citedByCount "0" @default.
- W4376274010 crossrefType "journal-article" @default.
- W4376274010 hasAuthorship W4376274010A5039848174 @default.
- W4376274010 hasAuthorship W4376274010A5050399810 @default.
- W4376274010 hasAuthorship W4376274010A5054793396 @default.
- W4376274010 hasAuthorship W4376274010A5091929798 @default.
- W4376274010 hasBestOaLocation W43762740101 @default.
- W4376274010 hasConcept C121332964 @default.
- W4376274010 hasConcept C121704057 @default.
- W4376274010 hasConcept C126255220 @default.
- W4376274010 hasConcept C127413603 @default.
- W4376274010 hasConcept C1276947 @default.
- W4376274010 hasConcept C132525143 @default.
- W4376274010 hasConcept C134306372 @default.
- W4376274010 hasConcept C13662910 @default.
- W4376274010 hasConcept C146978453 @default.
- W4376274010 hasConcept C154945302 @default.
- W4376274010 hasConcept C173246807 @default.
- W4376274010 hasConcept C199360897 @default.