Discrete space-based route planning for rotary-wing UAV formation in urban environments

• Main Authors: Wu, Yu, Low, Kin Huat
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Aeronautical engineering; Route Planning; Urban Environments
• Online Access: https://hdl.handle.net/10356/163840
• Institution: Nanyang Technological University

The route planning problem for rotary-wing UAV formation is studied in discrete urban environments. First, a discrete-space consensus algorithm (DSCA) integrating asynchronous planning and grouping mechanism is developed to make the rotary-wing UAVs converge to the desired formation. Then the DSCA i...