Flatness-based finite-horizon multi-UAV formation trajectory planning and directionally aware collision avoidance tracking

Basit Öğe Kaydı
dc.authorid0000-0002-8418-805X
dc.authorid0000-0002-9770-2740
dc.authorid0009-0003-4552-9995
dc.authorid0000-0003-4470-8812
dc.authorid0000-0001-7106-3816
dc.contributor.authorJond, Hossein B.
dc.contributor.authorBeaver, Logan E.
dc.contributor.authorJiroušek, Martin
dc.contributor.authorAhmadlou, Naiemeh
dc.contributor.authorBakırcıoğlu, Veli
dc.contributor.authorSaska, Martin
dc.date.accessioned2025-09-17T11:56:03Z
dc.date.available2025-09-17T11:56:03Z
dc.date.issued2025
dc.departmentTeknik Bilimler Meslek Yüksekokulu
dc.description.abstractOptimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative collision-free finite-time formation control scheme for multiple UAVs leveraging the differential flatness of the UAV dynamics, eliminating the need for numerical methods. We formulate a finite-time optimal control problem to plan a formation trajectory for feasible initial states. This optimal control problem in formation trajectory planning involves a collective performance index to meet the formation requirements to achieve relative positions and velocity consensus. It is solved by applying Pontryagin's principle. Subsequently, a collision-constrained regulating problem is addressed to ensure collision-free tracking of the planned formation trajectory. The tracking problem incorporates a directionally aware collision avoidance strategy that prioritizes avoiding UAVs in the forward path and relative approach. It assigns lower priority to those on the sides with an oblique relative approach, disregarding UAVs behind and not in the relative approach. The high-fidelity simulation results validate the effectiveness of the proposed control scheme.
dc.identifier.doi10.1016/j.jfranklin.2025.107867
dc.identifier.issn00160032
dc.identifier.issue12
dc.identifier.scopus2-s2.0-105010220036
dc.identifier.scopusqualityQ1
dc.identifier.urihttps://doi.org/10.1016/j.jfranklin.2025.107867
dc.identifier.urihttps://hdl.handle.net/20.500.12451/14438
dc.identifier.volume362
dc.identifier.wosOS:001536819900001
dc.identifier.wosqualityQ2
dc.indekslendigikaynakScopus
dc.indekslendigikaynakWeb of Science
dc.institutionauthorBakırcıoğlu, Veli
dc.institutionauthorid0000-0002-1170-5327
dc.language.isoen
dc.publisherElsevier Ltd
dc.relation.ispartofJournal of the Franklin Institute
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectDifferential Flatness
dc.subjectFormation Control
dc.subjectPontryagin’s Principle
dc.titleFlatness-based finite-horizon multi-UAV formation trajectory planning and directionally aware collision avoidance tracking
dc.typeArticle

Dosyalar

Orijinal paket
Listeleniyor 1 - 1 / 1
Küçük Resim
İsim:
jond-hossein b.-2025.pdf
Boyut:
6.62 MB
Biçim:
Adobe Portable Document Format
İndir
Lisans paketi
Listeleniyor 1 - 1 / 1
[ X ]
İsim:
license.txt
Boyut:
1.17 KB
Biçim:
Item-specific license agreed upon to submission
Açıklama:
İndir

Koleksiyon

Makale Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu
WoS İndeksli Yayınlar Koleksiyonu