Conflict-free optimal motion planning for parallel aerial 3D printing using multiple UAVs

Abstract

This article introduces a novel collaborative optimal motion planning framework for parallel aerial 3D printing. The proposed novel framework is efficiently capable of handling conflicts between the utilized Unmanned Aerial Vehicles (UAVs), as they follow predefined paths, allowing for a seamless enhancement of aerial 3D printing capabilities by employing multiple UAVs to collaborate in a parallel printing process. The established approach ingeniously formulates UAVs’ motion planning as a multi-constraint optimization problem, ensuring minimal adjustments to their velocities within specified limits. This guarantees smooth and uninterrupted printing while preventing collisions and adhering to the requirements of aerial printing. To substantiate the effectiveness of our proposed motion planning algorithm, an extensive array of simulation studies have been undertaken, encompassing scenarios where multiple UAVs engage in the fabrication of diverse construction shapes. The overall novel concept is being extensively validated in simulations, while the obtained results promise for enhancing the viability and advancing the landscape of aerial additive manufacturing.