Facial reconstruction

Search LJMU Research Online

Browse Repository | Browse E-Theses

Fast Formation of Swarm of UAVs in Congested Urban Environment

Spanogianopoulos, S, Zhang, Q and Spurgeon, S (2017) Fast Formation of Swarm of UAVs in Congested Urban Environment. IFAC-PapersOnLine, 50 (1). pp. 8031-8036. ISSN 2405-8963

IFAC17_2670_FI.pdf - Accepted Version
Available under License Creative Commons Attribution Non-commercial No Derivatives.

Download (535kB) | Preview


As Unmanned Aerial Vehicles (UAVs) become more readily available and reduce in cost, using multiple UAVs simultaneously to accomplish a task becomes increasingly attractive. Once swarms of UAVs share the same workspace (operational environment) it is necessary to have a means to rapidly adopt an optimal collision-free formation in the workspace. A popular approach for formation of an optimal swarm is to use Particle Swarm Optimization (PSO) techniques. A variant of PSO was recently introduced called nPSO which claims to exhibit more rapid convergence than other variants. In this paper nPSO is applied to the problem of finding optimal positions of UAVs forming a swarm in presence of large obstacles such as buildings in an urban environment. The experiments show that no more than 1000 iterations are required to obtain near optimal formation of swarm of UAVs for different maps, including maps relating to congested environments.

Item Type: Article
Uncontrolled Keywords: Fast collision-free swarm formation; Autonomous Systems; UAV; Optimization in swarm robotics; ASSIGNMENT
Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions: Electronics & Electrical Engineering (merged with Engineering 10 Aug 20)
Publisher: Elsevier
Related URLs:
Date Deposited: 08 Oct 2018 08:24
Last Modified: 04 Sep 2021 02:22
DOI or ID number: 10.1016/j.ifacol.2017.08.1228
URI: https://researchonline.ljmu.ac.uk/id/eprint/9424
View Item View Item