Obstacle Avoidance for UAV Formation using Binary Tree Structure
Gautam Kumar, Ashwini Ratnoo · AIAA SCITECH 2023 Forum · 2023
View Video Presentation: https://doi.org/10.2514/6.2023-1080.vid This work considers the problem of formation reconfiguration for multiple UAVs using a binary tree framework. Given a fleet of UAVs flying in a plane, a sub-optimal binary tree structure is constructed using Simulated Annealing technique. To manage UAV traffic at nodes of the binary tree, a dynamic time-coordinated scheduling algorithm is discussed to avoid inter-UAV collisions. The existing formation is then reconfigured to a platoon as a result of UAVs moving along the constructed tree. The UAV platoon moves towards the goal location while avoiding obstacles and passing through constricted passages, and finally reorganizing at the goal location. Simulation studies are carried out to validate the proposed algorithms and their efficiency in avoiding obstacles and inter-UAV collisions.