Energy efficiency is of critical importance to trajectory planning for UAV swarms in obstacle avoidance. In this paper, we present $E^2Coop$, a new scheme designed to avoid collisions for UAV swarms by tightly coupling Artificial Potential Field (APF) with Particle Swarm Planning (PSO) based trajectory planning. In $E^2Coop$, swarm members perform trajectory planning cooperatively to avoid collisions in an energy-efficient manner. $E^2Coop$ exploits the advantages of the active contour model in image processing for trajectory planning. Each swarm member plans its trajectories on the contours of the environment field to save energy and avoid collisions to obstacles. Swarm members that fall within the safeguard distance of each other plan their trajectories on different contours to avoid collisions with each other. Simulation results demonstrate that $E^2Coop$ can save energy up to 51\% compared with two state-of-the-art schemes.
翻译:在本文中,我们介绍了一个新的计划,目的是通过将人造潜力场与粒子蒸汽规划(PSO)密切结合,避免无人驾驶航空器群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群(APF)与粒子蜂群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群(PSOF)的轨道规划工作。在E2COOF中,群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群团团团团团团团团团,以节率的方式规划避免发生碰撞。 $E2COUF0以节节能高效的方式避免碰撞。 $2COUF$利用了轨道模型模型模型在轨迹规划中主动处理轨迹路段路段群群群群群群群群群群群群群群群群群群落群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群群