Swarm Vehicle Trajectory Control for Parallel UAV Turn Coordination
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current UAV formation control systems face challenges in preventing collisions and maintaining formation integrity due to latency and communication delays, especially when using multiple UAVs for tasks like area search, where traditional methods are either inefficient or prone to errors.
Innovation Solution
A method and apparatus for controlling UAV formations by designating a lead vehicle and determining its route with waypoints, then adjusting the planned route of follower vehicles using rectangles to ensure safe spacing and prevent intersections, while also compensating for latency by projecting target waypoints forward and adjusting speed and acceleration as needed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple UAVs are used to perform tasks, then area coverage efficiency is improved, but collision risk increases due to intersecting flight paths
Solution Approach 1:
The flight area is divided into multiple rectangular zones, with each UAV assigned to a specific zone. The flight paths are segmented into consecutive rectangular segments, ensuring that each UAV operates within its designated spatial boundaries. This segmentation prevents path intersections while maintaining efficient area coverage through coordinated multi-UAV operation.
Solution Approach 2:
The patent introduces a lateral offset dimension to the flight paths. Instead of all UAVs following identical trajectories, each follower UAV's path is offset laterally from the leader's path by a predetermined distance. This dimensional adjustment creates parallel but separated flight corridors, eliminating collision risks while preserving the efficiency benefits of multiple UAVs operating simultaneously.
2Stability of the object's composition
If follower UAVs follow the leader's trajectory with fixed offsets, then formation stability is improved, but path intersections occur during turns
Solution Approach 1:
The offset parameters are made dynamic rather than fixed. During turn segments, the lateral offset between leader and follower UAVs is adjusted based on the turn geometry and UAV speeds. This dynamic parameter adjustment allows the formation to maintain stability through coordinated turning while preventing path intersections that would occur with rigid fixed offsets.
Solution Approach 2:
The flight paths are planned in advance with predetermined rectangular segments and offset parameters calculated before execution. By pre-computing the offset trajectories and identifying potential intersection points, the system can proactively adjust follower paths to avoid collisions while maintaining formation integrity, rather than reacting to conflicts after they arise.
3Reliability
If waypoints are delayed due to latency, then communication reliability is reduced, but followers are left behind in the formation
Solution Approach 1:
Target waypoints are projected forward in time to compensate for communication latency. Instead of sending waypoints when they are immediately needed, the system calculates and transmits future waypoints in advance, allowing follower UAVs to receive and execute commands without delay. This preliminary action ensures that followers maintain their positions in the formation despite communication delays.
Solution Approach 2:
The system dynamically adjusts waypoint transmission timing and offset parameters based on measured latency conditions. When latency is detected, the system increases the forward projection distance of target waypoints and adjusts offset parameters to account for the time delay. This dynamic adaptation maintains formation integrity under varying communication conditions.
4Reliability
If complex algorithms are used to correct flight paths, then collision prevention is improved, but system complexity increases
Solution Approach 1:
The complex path correction problem is segmented into simpler rectangular trajectory segments. Instead of using continuous complex algorithms to calculate offset paths, the system divides the flight area into discrete rectangular zones with predefined geometric properties. This segmentation transforms the complex continuous control problem into a series of simpler discrete geometric calculations, reducing algorithmic complexity while maintaining collision prevention effectiveness.
Data Source
Figure 1~2d
Figure 3~4
Figure 5
AI summary
A method for controlling a swarm of vehicles comprising : - designating a vehicle (12) and determining a position of the vehicle (12), determining at least one planned target waypoint for the designated vehicle (12) to form a route between the determined position and the at least one planned target waypoint - determining a planned other waypoint for another vehicle (14, 16) by a rectangle with one side being the formed route and the other substantially parallel side of substantially same length representing a planned route of the other vehicle (14, 16) between a starting point of the other vehicle (14, 16) and the planned other waypoint, - causing to change the planned other route of the other vehicle (14, 16) by moving the planned other waypoint of the other vehicle (14, 16) if a direction of a next route of the designated vehicle (12) towards the next planned target waypoint of the designated vehicle (12) is not substantially parallel to a direction of the route of the designated vehicle (12).