Indoor formation motion planning using B-splines parametrization and evolutionary optimization

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2024-09-04 DOI:10.1016/j.conengprac.2024.106066

Vincent Marguet , Cong Khanh Dinh , Florin Stoican , Ionela Prodan

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引用次数: 0

Abstract

Formation generation with connectivity maintenance under efficiency restrictions for a group of autonomous vehicles is a challenging problem. By planning trajectories offline, the vehicles can follow optimized paths, resulting in improved efficiency in terms of time, energy, and resource utilization. This paper introduces a coherent approach that leverages evolutionary computing, notably a differential evolutionary algorithm, along with B-spline parametrizations, to effectively coordinate multiple indoor nanodrones. Off-line trajectories for both the leader and followers are designed to enforce multiple constraints (i.e., position, velocity, angles, thrust, angular velocity, waypoint passing, obstacle avoidance). The proposed approach accommodates intricate maneuvers such as formation switching and obstacle avoidance, facilitated by a knot refinement procedure that minimizes conservatism in constraint enforcement. The theoretical results are validated in both simulation and experiments.

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利用 B 样条参数化和进化优化进行室内编队运动规划

在效率限制条件下为一组自动驾驶车辆生成具有连接性的编队是一个具有挑战性的问题。通过离线规划轨迹，车辆可以遵循优化路径，从而提高时间、能源和资源利用效率。本文介绍了一种利用进化计算（特别是微分进化算法）和 B 样条参数化的连贯方法，以有效协调多个室内纳米无人机。为领导者和跟随者设计的离线轨迹可执行多重约束（即位置、速度、角度、推力、角速度、航点通过、避障）。所提出的方法能适应复杂的机动，如编队切换和避障，并通过节点细化程序将约束执行中的保守性降到最低。模拟和实验验证了理论结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.