用流网络规划多无人机编队飞行路径，确保无碰撞。
Flow-Based Path Planning for Multiple Homogenous UAVs for Outdoor Formation-Flying
- 基于GPS坐标构建流网络图，实现路径建模
- 最小代价路径算法结合最大流法，保障无碰撞
- 实测3架无人机验证可行性，可扩展至64架
无碰撞路径规划是多无人机编队飞行（MFF）中最关键的环节。本文使用无标签的同质四旋翼无人机，通过流网络方法生成完整的无人机间无碰撞路径。该流程包含三个部分：1）从物理GPS坐标构建流网络图；2）利用任意图搜索路径算法寻找最小代价（最短距离）路径；3）采用Ford-Fulkerson方法求解最大流路径，确保无碰撞。针对多种编队形式，进行了最多64架无人机的仿真测试，并通过3架四旋翼无人机的实际实验验证了路径的物理可行性和实用性。测试结果表明，该方法能有效生成安全、无碰撞的飞行路径。
原文摘要 · Abstract (English)
Collision-free path planning is the most crucial component in multi-UAV formation-flying (MFF). We use unlabeled homogenous quadcopters (UAVs) to demonstrate the use of a flow network to create complete (inter-UAV) collision-free paths. This procedure has three main parts: 1) Creating a flow network graph from physical GPS coordinates, 2) Finding a path of minimum cost (least distance) using any graph-based path-finding algorithm, and 3) Implementing the Ford-Fulkerson Method to find the paths with the maximum flow (no collision). Simulations of up to 64 UAVs were conducted for various formations, followed by a practical experiment with 3 quadcopters for testing physical plausibility and feasibility. The results of these tests show the efficacy of this method's ability to produce safe, collision-free paths.
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