Reconfigurable Multi-UAV Formation Using Angle-Encoded PSO

Hoang, VT; Phung, MD; Dinh, TH; Zhu, Q; Ha, QP

Reconfigurable Multi-UAV Formation Using Angle-Encoded PSO

Hoang, VT Phung, MD Dinh, TH Zhu, Q Ha, QP

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Automation Science and Engineering, 2019, 2019-August pp. 1670 - 1675
Issue Date:: 2019-08-01

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Field	Value	Language
dc.contributor.author	Hoang, VT	en_US
dc.contributor.author	Phung, MD	en_US
dc.contributor.author	Dinh, TH	en_US
dc.contributor.author	Zhu, Q	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.available	2021-08-12T19:01:03Z
dc.date.issued	2019-08-01	en_US
dc.identifier.citation	IEEE International Conference on Automation Science and Engineering, 2019, 2019-August pp. 1670 - 1675	en_US
dc.identifier.isbn	9781728103556	en_US
dc.identifier.issn	2161-8070	en_US
dc.identifier.uri	http://hdl.handle.net/10453/136915
dc.description.abstract	© 2019 IEEE. In this paper, we propose an algorithm for the formation of multiple UAVs used in vision-based inspection of infrastructure. A path planning algorithm is first developed by using a variant of the particle swarm optimisation, named θ-PSO, to generate a feasible path for the overall formation configuration taken into account the constraints for visual inspection. Here, we introduced a cost function that includes various constraints on flight safety and visual inspection. A reconfigurable topology is then added based on the use of intermediate waypoints to allow the formation to avoid collision with obstacles during operation. The planned path and formation are then combined to derive the trajectory and velocity profiles for each UAV. Experiments have been conducted for the task of inspecting a light rail bridge. The results confirmed the validity and effectiveness of the proposed algorithm.	en_US
dc.relation.ispartof	IEEE International Conference on Automation Science and Engineering	en_US
dc.relation.isbasedon	10.1109/COASE.2019.8843165	en_US
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.title	Reconfigurable Multi-UAV Formation Using Angle-Encoded PSO	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2019-August	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US
pubs.volume	2019-August	en_US

Abstract:

© 2019 IEEE. In this paper, we propose an algorithm for the formation of multiple UAVs used in vision-based inspection of infrastructure. A path planning algorithm is first developed by using a variant of the particle swarm optimisation, named θ-PSO, to generate a feasible path for the overall formation configuration taken into account the constraints for visual inspection. Here, we introduced a cost function that includes various constraints on flight safety and visual inspection. A reconfigurable topology is then added based on the use of intermediate waypoints to allow the formation to avoid collision with obstacles during operation. The planned path and formation are then combined to derive the trajectory and velocity profiles for each UAV. Experiments have been conducted for the task of inspecting a light rail bridge. The results confirmed the validity and effectiveness of the proposed algorithm.

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http://hdl.handle.net/10453/136915