Obstacle Avoidance of Resilient UAV Swarm Formation with Active Sensing System in the Dense Environment
Peng Peng,Wei Dong,Gang Chen,Xiangyang Zhu,Peng Peng,Wei Dong,Gang Chen,Xiangyang Zhu
This paper proposes a perception-shared and swarm trajectory global optimal (STGO) algorithm fused UAVs formation motion planning framework aided by an active sensing system. First, the point cloud received by each UAV is fit by the gaussian mixture model (GMM) and transmitted in the swarm. Resampling from the received GMM contributes to a global map, which is used as the foundation for consensus....