2021
Chen*, Chih-chun; Liu, Hugh H. -T.
Adaptive Modelling for Downwash Effects in Multi-UAV Path Planning Journal Article
In: Guidance, Navigation and Control, 1 , pp. (2140005) 1-16, 2021.
Abstract | Links | BibTeX | Tags: adaptive modelling for downwash, corresponding author, effects in multi-uav path, planning
@article{JGNC2021CC,
title = {Adaptive Modelling for Downwash Effects in Multi-UAV Path Planning},
author = {Chih-chun Chen* and Hugh H. -T. Liu},
doi = {10.1142/S27374807214000572140005-1},
year = {2021},
date = {2021-01-01},
journal = {Guidance, Navigation and Control},
volume = {1},
pages = {(2140005) 1-16},
abstract = {This paper develops a novel method to model the air °ow downwash force generated by thequadrotor unmanned aerial vehicle (UAV) and its e®ect on the neighboring UAVs. Each UAV isshaped by a virtual structure for collision-free path planning. The shape is modi ̄ed from astandard spherical body to a proposed adaptive cylinder to optimize the path planning whileminimizing the downwash impact. The cylinder height varies based on the UAV circumstanceand the predicted downwash impact. Furthermore, the downwash model can aid in the cylinderheight extreme value appointment. A °ock-based path planning algorithm is investigated in thisstudy to compare the spherical UAV shape model with the proposed cylindrical UAV shapemodel. The UAV with the adaptive cylindrical model is simulated and veri ̄ed via Gazebo andRobot Operating System (ROS) simulation platform.},
keywords = {adaptive modelling for downwash, corresponding author, effects in multi-uav path, planning},
pubstate = {published},
tppubtype = {article}
}
This paper develops a novel method to model the air °ow downwash force generated by thequadrotor unmanned aerial vehicle (UAV) and its e®ect on the neighboring UAVs. Each UAV isshaped by a virtual structure for collision-free path planning. The shape is modi ̄ed from astandard spherical body to a proposed adaptive cylinder to optimize the path planning whileminimizing the downwash impact. The cylinder height varies based on the UAV circumstanceand the predicted downwash impact. Furthermore, the downwash model can aid in the cylinderheight extreme value appointment. A °ock-based path planning algorithm is investigated in thisstudy to compare the spherical UAV shape model with the proposed cylindrical UAV shapemodel. The UAV with the adaptive cylindrical model is simulated and veri ̄ed via Gazebo andRobot Operating System (ROS) simulation platform.