Although the Dubins path planning method is widely used in UAV flight path planning, the existing Dubins path planning usually sets the minimum turning radius to a certain value, ignoring the influence of UAV flight speed on the minimum turning radius. In addition, most existing path planning only considers the space coordination of UAVs, but fails to fully consider the time coordination of UAVs, namely the simultaneous arrival problem. Therefore, this paper studies the optimal efficiency aggregation of UAV formation based on improved Condor algorithm, aiming at the formation transformation of UAV cluster. Under the condition of time coordination, the effects of different flight speeds on Dubins’ path planning are considered, and the energy consumption and completion time of formation transformation are selected as efficiency indexes to give the optimal spatial location of formation assembly. The simulation results show that this model can achieve the desired optimal efficiency formation transformation.
Optimal Efficiency Assembly of UAV Formation Based on Improved Bald Eagle Search Algorithm
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022
Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) ; Chapter : 195 ; 2097-2104
2023-03-10
8 pages
Article/Chapter (Book)
Electronic Resource
English
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