Path Planning of UAV Formations using New Potential Field and Cluster Analysis

机译：基于新势场和聚类分析的无人机编队路径规划

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In this paper, a new method to calculate flight paths of multiple unmanned aerial vehicles is proposed. The proposed method incorporates the drag reduction effect of formation flying to reduce energy consumption. In order to make best use of the drag reduction effect, the proposed method uses cluster analysis to classify targets. Also, a new shaped field is proposed to obtain efficient paths around obstacles. Test cases showed that the proposed method can successfully calculate efficient paths for multiple vehicles, and results of cluster analysis can be used to suppress combinatorial explosion in obstacle rich environments. However there are still more room left for improvements, especially in the dissimilarity function used for cluster analysis.

机译：提出了一种计算多种无人机飞行路径的新方法。所提出的方法结合了地层飞行的减阻作用以减少能量消耗。为了充分利用减阻效果，该方法采用聚类分析对目标进行分类。而且，提出了一种新的成形场以获得绕障碍物的有效路径。测试案例表明，该方法能够成功地计算出多辆车辆的有效路径，并且聚类分析的结果可用于抑制在富障碍环境中的组合爆炸。但是，还有更多的改进空间，尤其是在用于聚类分析的相异函数中。

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来源
《Third Asia-Pacific International Symposium on Aerospace Technology》|2011年|1-10|共10页
会议地点 Melbourne(AU)
作者
Takuma Hino; Takeshi Tsuchiya;
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作者单位

Department of Aeronautics and Astronautics, School of Engineering, University of Tokyo Japan, 113–8656 Tokyo, Bunkyoku, Hongo 7–3–1, Engineering Bldg.71;

Department of Aeronautics and Astronautics, School of Engineering, University of Tokyo Japan, 113–8656 Tokyo, Bunkyoku, Hongo 7–3–1, Engineering Bldg.71;

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会议组织
原文格式 PDF
正文语种 eng
中图分类航空;航天（宇宙航行）;
关键词
UAV; formation flying; path planning; cluster analysis;

机译：无人机;编队飞行;路径规划;聚类分析;

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2. Research on path planning of multi-rotor UAV based on improved artificial potential field method [J] . Zhengqing Liu, Xinhua Wang, Kangyi Li MATEC Web of Conferences . 2021,第a期

机译：基于改进的人工潜在现场方法的多转子UV路径规划研究
3. UAV path planning using artificial potential field method updated by optimal control theory [J] . Chen Yong-bo, Luo Guan-chen, Mei Yue-song, International journal of systems science . 2016,第5a8期

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4. Path Planning of UAV Formations using New Potential Field and Cluster Analysis [C] . Takuma Hino, Takeshi Tsuchiya Asia-Pacific international symposium on aerospace technology . 2011

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5. Manipulator path planning with multi-resolution potential fields and fuzzy logic control. [D] . Soucy, Martin. 2005

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6. Hybrid Path Planning Combining Potential Field with Sigmoid Curve for Autonomous Driving [O] . Bing Lu, Hongwen He, Huilong Yu, 2020

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7. Informative Path Planning and Mapping with Multiple UAVs in Wind Fields [O] . Cho, Doo-Hyun, Ha, Jung-Su, Lee, Sujin, 2016

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8. Information-Theoretic Approach for Concurrent Path and Sensor Planning for a UAV with EO/IR Sensors (Informationsteoretisk Rutt- och Sensorplanering foer UAV med EO/IR Sensorer). [R] . Skoglsar, P., Bjoerstroem, R., Nygards, J., 2005

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Path Planning of UAV Formations using New Potential Field and Cluster Analysis

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