Abstract
This paper proposes an efficient centralized trajectory planning algorithm for fixed-wing swarms to address the problem of coordinated arrival. A Dubins-based initial path sampling method is designed in the front end to provide a good initial guess considering kinodynamic feasibility. Then a joint optimization approach is carried out in the back end where constraints are formulated as a penalty in the cost function. Moreover, a well-formed trajectory representation is utilized to realize spatial-temporal optimization with few variables, leading to the high computational efficiency. A replanning strategy is also introduced to handle the situation when the target trajectory changes. Numerous simulation results demonstrate the efficiency and feasibility of the algorithm.
Supported by the National Natural Science Foundation of China under Grants 62003299, 62088101, and 62203256.
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Zhong, Y. et al. (2023). Efficient Trajectory Planning for Coordinated Arrival of Fixed-Wing UAV Swarm. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14273. Springer, Singapore. https://doi.org/10.1007/978-981-99-6498-7_36
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DOI: https://doi.org/10.1007/978-981-99-6498-7_36
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