Abstract

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.

Highlights

  • 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)

  • The dynamic and collision a⁃ voidance constraints are discussed respectively, which are essential for exploring the process of RRT algorithm as well as adjusting the trajectory of UAVs

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Summary

Introduction

来提高算法的运算效率;文献[ 13] 根据无人机航向 角变化率,对基本 RRT 算法生成的航迹进行了优化 处理;Farinella 等[14] 提出了一种基于模型预测法的 RRT 算法,该算法以中继卫星为探测传感器,能达 到实时避障的目的;田晓亮[15] 将改进的 RRT 算法 应用到多无人机编队重构中,但仅以 2 架无人机为 例进行仿真,并未考虑编队重构过程中可能发生的 内部碰撞以及最终编队构型的问题。 Zi-1 Z→i 与Zi Zi→+1 ;利用 L1 与 L2 相交即可获得 Oc ,并进 Research on UAVs Formation Reconfiguration Based on Dubins Path[ C] ∥Proceed⁃ Efficient Path Planning Algorithm in Three Dimensions for UAV[ J] .

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