Transcription of Lun Quan , Longji Yin , Chao Xu, and Fei Gao
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Lun Quan , Longji Yin , Chao Xu, and Fei Gao
distributed Swarm trajectory Optimization for Formation Flight inDense EnvironmentsLun Quan , Longji Yin , Chao Xu, and Fei Gao Abstract For aerial swarms, navigation in a prescribedformation is widely practiced in various scenarios. However,the associated planning strategies typically lack the capabilityof avoiding obstacles in cluttered environments. To addressthis deficiency, we present an optimization-based method thatensures collision-free trajectory generation for formation this paper, a novel differentiable metric is proposed toquantify the overall similarity distance between formations. Wethen formulate this metric into an optimization framework,which achieves spatial-temporal planning using polynomialtrajectories. Minimization over collision penalty is also incor-porated into the framework, so that formation preservationand obstacle avoidance can be handled simultaneously.
2)A distributed trajectory optimizer that jointly takes formation similarity, obstacle avoidance, and dynamic feasibility into account. 3)A series of simulations and real-world experiments with a distributed aerial swarm system that validates the efficiency and robustness of our method. The source code will be released for the reference of the ...
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