Abstract
According to different mission scenarios, realistic environment, or other reasons, UAVs ought to be transformed into the corresponding formation. When formation transformed, it is the most important thing to avoid collision among UAVs. This paper introduces the method of the real-time trajectory of the formation transformation based on safety flight corridor. At first, the formation information, formation control model and concept of safety flight corridor are introduced. Secondly, the real-time trajectory planning strategy and algorithm with collision avoidance are designed. The algorithm proof and efficiency model are analyzed. Finally, the effectiveness of UAVs formation transformation is revealed by simulation results.
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Wang, G., Song, K., Zhang, X. (2022). The Real-Time Trajectory Planning of UAV Formation Transformation Based on Safety Flight Corridor. In: Jia, Y., Zhang, W., Fu, Y., Yu, Z., Zheng, S. (eds) Proceedings of 2021 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 803. Springer, Singapore. https://doi.org/10.1007/978-981-16-6328-4_51
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DOI: https://doi.org/10.1007/978-981-16-6328-4_51
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