Motion planning of UAV platooning in unknown cluttered environment

Fang Liao; Yuchao Hu; Jinqiang Cui; Yazhe Tang; Mingjie Lao; Feng Lin; Rodney Teo; Shupeng Lai; Jianliang Wang

doi:10.1109/ASCC.2017.8287431

Motion planning of UAV platooning in unknown cluttered environment

Fang Liao, Yuchao Hu, Jinqiang Cui, Yazhe Tang, Mingjie Lao, Feng Lin, Rodney Teo, Shupeng Lai, Jianliang Wang

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

This paper studies platooning problem of multiple VTOL unmanned aerial vehicles (UAVs) in an unknown cluttered environment such as urban canyon, forest or indoor environment. Each UAV is equipped with a limited range sensor that is used to actively detect obstacles around it, and an on-board camera is equipped to estimate the relative position between UAVs. In this study, the platooning problem of multiple UAVs is converted to the motion planning problem of an individual UAV in unknown cluttered environments by introducing a leader-follower strategy. A decomposition hierarchic on-line motion planning approach consisting of 3D path planning and 3D trajectory generation is proposed to generate the collision-free reference trajectory. Both the simulation and experiment demonstrate the effectiveness of the proposed motion planning approach on achieving multiple UAVs platooning in unknown cluttered environment.

Original language	English
Title of host publication	2017 Asian Control Conference, ASCC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1707-1712
Number of pages	6
ISBN (Electronic)	9781509015733
DOIs	https://doi.org/10.1109/ASCC.2017.8287431
Publication status	Published - 7 Feb 2018
Externally published	Yes
Event	2017 11th Asian Control Conference, ASCC 2017 - Gold Coast, Australia Duration: 17 Dec 2017 → 20 Dec 2017

Publication series

Name	2017 Asian Control Conference, ASCC 2017
Volume	2018-January

Conference

Conference	2017 11th Asian Control Conference, ASCC 2017
Country/Territory	Australia
City	Gold Coast
Period	17/12/17 → 20/12/17

ASJC Scopus subject areas

Control and Optimization

Access to Document

10.1109/ASCC.2017.8287431

Cite this

Liao, F., Hu, Y., Cui, J., Tang, Y., Lao, M., Lin, F., Teo, R., Lai, S., & Wang, J. (2018). Motion planning of UAV platooning in unknown cluttered environment. In 2017 Asian Control Conference, ASCC 2017 (pp. 1707-1712). (2017 Asian Control Conference, ASCC 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2017.8287431

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title = "Motion planning of UAV platooning in unknown cluttered environment",

abstract = "This paper studies platooning problem of multiple VTOL unmanned aerial vehicles (UAVs) in an unknown cluttered environment such as urban canyon, forest or indoor environment. Each UAV is equipped with a limited range sensor that is used to actively detect obstacles around it, and an on-board camera is equipped to estimate the relative position between UAVs. In this study, the platooning problem of multiple UAVs is converted to the motion planning problem of an individual UAV in unknown cluttered environments by introducing a leader-follower strategy. A decomposition hierarchic on-line motion planning approach consisting of 3D path planning and 3D trajectory generation is proposed to generate the collision-free reference trajectory. Both the simulation and experiment demonstrate the effectiveness of the proposed motion planning approach on achieving multiple UAVs platooning in unknown cluttered environment.",

author = "Fang Liao and Yuchao Hu and Jinqiang Cui and Yazhe Tang and Mingjie Lao and Feng Lin and Rodney Teo and Shupeng Lai and Jianliang Wang",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 11th Asian Control Conference, ASCC 2017 ; Conference date: 17-12-2017 Through 20-12-2017",

year = "2018",

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doi = "10.1109/ASCC.2017.8287431",

language = "English",

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Liao, F, Hu, Y, Cui, J, Tang, Y, Lao, M, Lin, F, Teo, R, Lai, S & Wang, J 2018, Motion planning of UAV platooning in unknown cluttered environment. in 2017 Asian Control Conference, ASCC 2017. 2017 Asian Control Conference, ASCC 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 1707-1712, 2017 11th Asian Control Conference, ASCC 2017, Gold Coast, Australia, 17/12/17. https://doi.org/10.1109/ASCC.2017.8287431

Motion planning of UAV platooning in unknown cluttered environment. / Liao, Fang; Hu, Yuchao; Cui, Jinqiang et al.
2017 Asian Control Conference, ASCC 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1707-1712 (2017 Asian Control Conference, ASCC 2017; Vol. 2018-January).

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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T1 - Motion planning of UAV platooning in unknown cluttered environment

AU - Liao, Fang

AU - Hu, Yuchao

AU - Cui, Jinqiang

AU - Tang, Yazhe

AU - Lao, Mingjie

AU - Lin, Feng

AU - Teo, Rodney

AU - Lai, Shupeng

AU - Wang, Jianliang

PY - 2018/2/7

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N2 - This paper studies platooning problem of multiple VTOL unmanned aerial vehicles (UAVs) in an unknown cluttered environment such as urban canyon, forest or indoor environment. Each UAV is equipped with a limited range sensor that is used to actively detect obstacles around it, and an on-board camera is equipped to estimate the relative position between UAVs. In this study, the platooning problem of multiple UAVs is converted to the motion planning problem of an individual UAV in unknown cluttered environments by introducing a leader-follower strategy. A decomposition hierarchic on-line motion planning approach consisting of 3D path planning and 3D trajectory generation is proposed to generate the collision-free reference trajectory. Both the simulation and experiment demonstrate the effectiveness of the proposed motion planning approach on achieving multiple UAVs platooning in unknown cluttered environment.

AB - This paper studies platooning problem of multiple VTOL unmanned aerial vehicles (UAVs) in an unknown cluttered environment such as urban canyon, forest or indoor environment. Each UAV is equipped with a limited range sensor that is used to actively detect obstacles around it, and an on-board camera is equipped to estimate the relative position between UAVs. In this study, the platooning problem of multiple UAVs is converted to the motion planning problem of an individual UAV in unknown cluttered environments by introducing a leader-follower strategy. A decomposition hierarchic on-line motion planning approach consisting of 3D path planning and 3D trajectory generation is proposed to generate the collision-free reference trajectory. Both the simulation and experiment demonstrate the effectiveness of the proposed motion planning approach on achieving multiple UAVs platooning in unknown cluttered environment.

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Motion planning of UAV platooning in unknown cluttered environment

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