Reconfigurable Multi-UAV Formation Using Angle-Encoded PSO

Publication Type:
Conference Proceeding
IEEE International Conference on Automation Science and Engineering, 2019, 2019-August pp. 1670 - 1675
Issue Date:
Filename Description Size
Binder1.pdfAccepted Manuscript1.7 MB
Adobe PDF
Full metadata record
© 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.
Please use this identifier to cite or link to this item: