Consensus-based virtual leader tracking swarm algorithm with GDRRT*-PSO for path-planning of multiple-UAVs

Abstract

UAV technology is rapidly advancing and widely utilized, particularly in social and military domains, due to its extensive motion and maneuverability. Coordinating multiple UAVs enables more rapid and efficient task execution compared to a single UAV. The proliferation of UAVs across various sectors, including entertainment, transportation, delivery, and social domains, as well as military applications such as surveillance, tracking, and attack, has spurred research in swarm systems. In this study, a new swarm topology is presented by combining the Consensus-Based Virtual Leader Tracking Swarm Algorithm (CBVLTSA), which provides formation control in swarm systems, with the Goal Distance-based Rapidly-Exploring Random Tree with Particle Swarm Optimization (GDRRT*-PSO) route planning algorithm. Recently proposed, GDRRT* is notable for its efficient operation in expansive environments and rapid convergence to the goal. Within this framework, the path generated by GDRRT* is optimized using PSO to yield the shortest current route. CBVLTSA employs a potential push and pull function to facilitate cooperative, coordinated flight among swarm members. While applying pushing force to avoid collisions with each other and obstacles, members also exert pulling force to maintain flight formation while navigating to target points. This ensures controlled flight formation and collision-free traversal along the GDRRT*-PSO route. Consequently, unlike the others, the proposed algorithm achieves faster target reach with pre-planned routes, demonstrating a robust and flexible swarm topology with CBVLTSA. Moreover, we anticipate the significant utility of this algorithm across various swarm applications, including target detection, observation, tracking, trade and transportation logistics, and collective defense and attack strategies. © 2024 Elsevier B.V.