ICUAS'17 Paper Abstract


Paper ThA2.2

D'Amato, Egidio (University of Campania), Mattei, Massimiliano (Seconda UniversitÓ di Napoli), Notaro, Imma (Seconda UniversitÓ di Napoli), Silvestre, Francesco (University of Campania "L.Vanvitelli")

Bi-Level Flight Path Optimization for UAV Formations

Scheduled for presentation during the "Path Planning - IV" (ThA2), Thursday, June 15, 2017, 10:20−10:40, Salon AB

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 12, 2021

Keywords Path Planning, Swarms


A two-stage optimization model for flight path planning of cooperative UAVs in formation flight in the presence of polygonal obstacles and no-fly zones is proposed. Adopting a Visibility Graph (VG) approach, the virtual formation leader plans its flight path composed of circular arcs and segments connecting obstacles vertices. Then groups of obstacles, being not permeable by the flight formation without UAVs separation or formation shape deformation, are clustered and the VG is revised with the addition of so called rendez vous waypoints, forcing the formation to be recomposed at a given location beyond groups of obstacles. Such rendez vous waypoints are optimized at a higher hierarchical level with respect to the flight path optimization leading to a Stackelberg game. The validity of the proposed approach and optimization model is shown by means of numerical simulations where flight paths are obtained calculating shortest path on the revised Visibility Graph and waypoints positions are optimized via a genetic algorithm. Finally, anti-collision among UAVs is achieved via a simple potential based method.



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