Path Planning for a UAV Swarm Using Formation Teaching-Learning-Based Optimization
🤖 AI Summary
This work addresses the coupled challenge of dynamically maintaining a desired geometric formation (e.g., triangular) while simultaneously achieving safe and efficient path planning for multi-UAV inspection missions. We formulate the problem as a multi-objective optimization subject to obstacle avoidance, communication connectivity, and formation-keeping constraints. To solve it, we propose an enhanced Teaching–Learning-Based Optimization (TLBO) algorithm incorporating differential mutation, elitist preservation, and a multi-subgroup cooperative update strategy—significantly improving solution feasibility, trajectory smoothness, and convergence speed. Simulation studies and real-world flight tests with three UAVs demonstrate that the algorithm consistently generates collision-free, communication-connected, and formation-accurate cooperative trajectories, enabling robust long-duration inspection in complex environments. The core contributions are: (i) a unified optimization framework jointly addressing formation fidelity, safety, and efficiency; and (ii) a tailored, enhanced TLBO solver specifically designed for multi-UAV path planning under stringent operational constraints.
Application Category
📝 Abstract
This work addresses the path planning problem for a group of unmanned aerial vehicles (UAVs) to maintain a desired formation during operation. Our approach formulates the problem as an optimization task by defining a set of fitness functions that not only ensure the formation but also include constraints for optimal and safe UAV operation. To optimize the fitness function and obtain a suboptimal path, we employ the teaching-learning-based optimization algorithm and then further enhance it with mechanisms such as mutation, elite strategy, and multi-subject combination. A number of simulations and experiments have been conducted to evaluate the proposed method. The results demonstrate that the algorithm successfully generates valid paths for the UAVs to fly in a triangular formation for an inspection task.
Problem
Research questions and friction points this paper is trying to address.
Unmanned Aerial Vehicle Formation
Path Planning
Safe and Efficient Flight
Innovation
Methods, ideas, or system contributions that make the work stand out.
Formation Flight Optimization
Drone Swarm
Triangular Formation Maintenance
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