Adaptive Modeling for Downwash Effects in Multi-UAV Path Planning

This paper develops a novel method to model the air flow downwash force generated by the quadrotor unmanned aerial vehicle(UAV) and its effect on the neighboring UAVs. Each UAV is shaped by a virtual structure for collision-free path planning. The shape is modified from a standard spherical body to a proposed adaptive cylinder to optimize the path planning while minimizing the downwash impact. The cylinder height varies based on the UAV circumstance and the predicted downwash impact. Furthermore, the downwash model can aid in the cylinder height extreme value appointment. A flock-based path planning algorithm is investigated in this study to compare the spherical UAV shape model with the proposed cylindrical UAV shape model. The UAV with the adaptive cylindrical model is simulated and verified via Gazebo and Robot Operating System(ROS) simulation platform.