کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
494543 862799 2016 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A novel coordinated path planning method using k-degree smoothing for multi-UAVs
ترجمه فارسی عنوان
یک روش جدید برنامه ریزی مسیر هماهنگ با استفاده از هموارسازی درجه k برای UAVsچندگانه
کلمات کلیدی
UAVsچندگانه ؛ نمودار Voronoi؛ هموارسازی درجه k ؛ برنامه ریزی مسیر هماهنگ شده
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر نرم افزارهای علوم کامپیوتر
چکیده انگلیسی


• We solve the coordinated path planning problems for multi-UAVs.
• Our proposed k-degree smoothing method smooths the path obtained by IACO.
• We propose an algorithm to achieve strong coordination and weak coordination.

Coordinated path planning for multiple unmanned aerial vehicles (multi-UAVs) is a highly significant problem encountered in their coordinated control. In the interests of completing mission securely and efficiently, the advanced multi-UAVs control technology requires a universal smoothing method as well as a precise coordination strategy. In this paper, we propose a novel multi-UAVs coordinated path planning method based on the k-degree smoothing, a more complex environment consists of multiple threat sources of which is constructed. By employing the Improved Ant Colony Optimization algorithm, a k-degree smoothing method is also presented aiming at obtaining a more flyable path. Additionally, the multi-UAVs coordination algorithm is induced by k-degree smoothing, allowing the UAVs to arrive at the destination simultaneously or in an acceptable time interval. Finally, simulations of the comparison between the Improved Ant Colony Optimization and classic algorithm, the detailed smoothing method, and the coordination are respectively conducted to validate that the proposed approach is feasible and effective in multi-UAVs coordinated path planning problems.

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ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Applied Soft Computing - Volume 48, November 2016, Pages 182–192
نویسندگان
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