Fluid simulation has been one of the most critical topics in computer graphics for its capacity to produce visually realistic effects. The intricacy of fluid simulation manifests most with interacting dynamic elements...
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For aerial swarms, formation flight has been applied in various scenes. However, most existing works do not consider balancing the conflicting requirements among keeping formation, keeping the smoothness of trajectori...
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ISBN:
(数字)9798350377705
ISBN:
(纸本)9798350377712
For aerial swarms, formation flight has been applied in various scenes. However, most existing works do not consider balancing the conflicting requirements among keeping formation, keeping the smoothness of trajectories, and obstacle avoidance within the limited time. To address this issue, we propose a decentralized trajectory planning framework for formation flight in unknown and dense environments. To ensure that feasible trajectories can be found within the limited time, the formation optimization problem is decoupled into formation affine transformation and iterative trajectory generation. Firstly, the optimization problem based on affine transformation is designed to obtain the optimal affine transformation sequence, which provides the formation reference of trajectory optimization. Secondly, the iterative optimization framework of trajectory planning is designed, which balances the conflicting requirements of formation, smooth flight, and obstacle avoidance. Besides, to escape the local minima caused by non-convex dense environments, the method of topological path planning is designed to provide distinctive initial solutions for trajectory optimization. Finally, the proposed methods are proven to be effective through the simulations and real-world experiments.
This article studies the circumnavigation problem of a non-holonomic vehicle independent of the global coordinate. Specifically, the vehicle circumnavigates an unknown stationary target with anticipated distance and v...
This article studies the circumnavigation problem of a non-holonomic vehicle independent of the global coordinate. Specifically, the vehicle circumnavigates an unknown stationary target with anticipated distance and velocity. However, the position information (i.e., absolute position and positive position) is not available to the vehicle. Instead, the vehicle can just obtain the distance rate relative to the target. We propose a generic continuous and bounded control algorithm based on only the distance-rate measurement. It is demonstrated using Poincare-Bendixon Criterion that the proposed control algorithm in this article ensures the asymptotically stable circumnavigation. Simulation is finally given to verify the effectiveness of the proposed control algorithm.
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