Due to the development of its own technology, Unmanned Aerial Vehicle (UAV) play an increasingly important role in today’s social production practice. The complex and changeable environment requires innovative UAV path planning algorithms. In order meet requirements flight environment, a new algorithm based on version White Sharks Optimization (WSO) is proposed this research. Firstly, terrain m...

This paper presents a method for formation flight and collision avoidance of multiple UAVs. Due to the shortcomings such as collision avoidance caused by UAV's high-speed and unstructured environments, this paper proposes a modified tentacle algorithm to ensure the high performance of collision avoidance. Different from the conventional tentacle algorithm which uses inverse derivation, the modi...

As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic platforms. Considering typical low-level attitude stabilization available on OTS flight controllers, this paper first develops an approach for modeling and identifica...

This paper presents a Receding Horizon Control (RHC) algorithm to the problem of on-line flight path optimization for aircraft in a Free Flight (FF) environment. The motivation to introduce the concept of RHC is to improve the robust performance of solutions in a dynamic and uncertain environment, and also to satisfy the restrictive time limit to the real-time optimization of this complicated a...

Unmanned aircraft systems use a variety of techniques to plan collision-free flight paths given a map of obstacles and nofly zones. However, maps are not perfect and obstacles may change over time or be detected during flight, which may invalidate paths that the aircraft is already following. Thus, dynamic in-flight replanning is required. Numerous strategies can be used for replanning, where t...

We demonstrate the application of a receding-horizon motion-planning method based on probabilistic roadmaps (PRM) that uses sampling from motion primitive maneuver-automata, for the problem of adaptive path planning in the case of a partially unknown obstacle field. Specifically, we consider trajectories followed by a helicopter equipped with finite-range obstacle sensors in unknown or partiall...

This paper presents a computationally-fast inverse dynamics model based on unit quaternion orientation representation for use in the generation of unmanned aircraft trajectories when the flight envelope may include all flight path orientations, a necessary attribute for aerobatics or unmanned air-to-air combat vehicles. The model removes the inherent singularities in Euler-angle attitude repres...

We have developed a method for the detection of both generic flight neighbouring aircrafts and those on a collision course. Our approach employs a sliding window linear Support Vector Machine (SVM) classifier with a Histogram of Oriented Gradients (HOG) feature representation. An extension of this approach to the spatio-temporal domain is also considered and we demonstrate its advantage for the...