Research on Formation Reconfiguration of UAVs Based on RRT Algorithm
To adapt the complexity and flexibility of battlefield environment, a method of formation reconfiguration based on Rapidly-exploring Random Tree (RRT) algorithm is proposed, which shows the advantage of formation of Unmanned Aerial Vehicles (UAVs). Firstly, the kinematic model for UAVs is built, and...
| Format: | Article |
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| Language: | zho |
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EDP Sciences
2019-06-01
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| Series: | Xibei Gongye Daxue Xuebao |
| Subjects: | |
| Online Access: | https://www.jnwpu.org/articles/jnwpu/full_html/2019/03/jnwpu2019373p601/jnwpu2019373p601.html |
| _version_ | 1827801633497546752 |
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| collection | DOAJ |
| description | To adapt the complexity and flexibility of battlefield environment, a method of formation reconfiguration based on Rapidly-exploring Random Tree (RRT) algorithm is proposed, which shows the advantage of formation of Unmanned Aerial Vehicles (UAVs). Firstly, the kinematic model for UAVs is built, and the feasibility of combination of traditional RRT algorithm and formation reconfiguration of UAVs is analyzed. Secondly, the strategies of trajectory correction comprising node removal and transition trajectory are adopted. Then the dynamic and collision avoidance constraints are discussed respectively, which are essential for exploring the process of RRT algorithm as well as adjusting the trajectory of UAVs. Finally, the simulation and flight experiment are carried out to verify the effectiveness of the proposed method. The results show that the reconfiguration method is able to achieve the formation reconfiguration rapidly and safely. Moreove, the planed trajectory can satisfy the tracing requirement, which is of significance for flight of UAVs in the battlefield environment. |
| first_indexed | 2024-03-11T20:28:14Z |
| format | Article |
| id | doaj.art-65e768c967e94c24a181c2ac780aacd0 |
| institution | Directory Open Access Journal |
| issn | 1000-2758 2609-7125 |
| language | zho |
| last_indexed | 2024-03-11T20:28:14Z |
| publishDate | 2019-06-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | Xibei Gongye Daxue Xuebao |
| spelling | doaj.art-65e768c967e94c24a181c2ac780aacd02023-10-02T11:23:49ZzhoEDP SciencesXibei Gongye Daxue Xuebao1000-27582609-71252019-06-0137360161110.1051/jnwpu/20193730601jnwpu2019373p601Research on Formation Reconfiguration of UAVs Based on RRT Algorithm0123College of Aviation and Foundation, Naval Aviation UniversityCollege of Aviation and Foundation, Naval Aviation UniversityCollege of Aeronautics and Astronautics, National University of Defense TechnologyCollege of Aviation and Foundation, Naval Aviation UniversityTo adapt the complexity and flexibility of battlefield environment, a method of formation reconfiguration based on Rapidly-exploring Random Tree (RRT) algorithm is proposed, which shows the advantage of formation of Unmanned Aerial Vehicles (UAVs). Firstly, the kinematic model for UAVs is built, and the feasibility of combination of traditional RRT algorithm and formation reconfiguration of UAVs is analyzed. Secondly, the strategies of trajectory correction comprising node removal and transition trajectory are adopted. Then the dynamic and collision avoidance constraints are discussed respectively, which are essential for exploring the process of RRT algorithm as well as adjusting the trajectory of UAVs. Finally, the simulation and flight experiment are carried out to verify the effectiveness of the proposed method. The results show that the reconfiguration method is able to achieve the formation reconfiguration rapidly and safely. Moreove, the planed trajectory can satisfy the tracing requirement, which is of significance for flight of UAVs in the battlefield environment.https://www.jnwpu.org/articles/jnwpu/full_html/2019/03/jnwpu2019373p601/jnwpu2019373p601.htmluavsformation reconfigurationrrt algorithmtrajectory correctionflight experiment |
| spellingShingle | Research on Formation Reconfiguration of UAVs Based on RRT Algorithm Xibei Gongye Daxue Xuebao uavs formation reconfiguration rrt algorithm trajectory correction flight experiment |
| title | Research on Formation Reconfiguration of UAVs Based on RRT Algorithm |
| title_full | Research on Formation Reconfiguration of UAVs Based on RRT Algorithm |
| title_fullStr | Research on Formation Reconfiguration of UAVs Based on RRT Algorithm |
| title_full_unstemmed | Research on Formation Reconfiguration of UAVs Based on RRT Algorithm |
| title_short | Research on Formation Reconfiguration of UAVs Based on RRT Algorithm |
| title_sort | research on formation reconfiguration of uavs based on rrt algorithm |
| topic | uavs formation reconfiguration rrt algorithm trajectory correction flight experiment |
| url | https://www.jnwpu.org/articles/jnwpu/full_html/2019/03/jnwpu2019373p601/jnwpu2019373p601.html |