Abstract
This paper models the Mars UAV formation exploring the surface of Mars, and then the formation obstacle avoidance is brought up with the assumptions of the Mars circumstance and the UAVs. Based on their specialty, constrained Delaunay triangulation, Yen-[Formula: see text] shortest path algorithm, the collaborative function, and the improved pigeon-inspired optimization (PIO) algorithm are integrated to solve the obstacle avoidance for the formation. Since the steering maneuver costs much energy and increases instabilities vulnerable in extraterrestrial exploration, the paper focuses on the route smoothness problem. The PIO is improved to be suitable for smooth routes and is compatible with other PIO variants. The simulation results show that the sum of the steering angle, namely the performance index, is effectively reduced and satisfies the obstacle avoidance requirements for Mars UAV formation.
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