کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
8058541 | 1520080 | 2016 | 20 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Cooperative path planning with applications to target tracking and obstacle avoidance for multi-UAVs
ترجمه فارسی عنوان
برنامه ریزی مسیر تعاونی با برنامه های کاربردی برای ردیابی هدف و جلوگیری از مانع برای چندین ناوگان هواپیما
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
چکیده انگلیسی
In this paper, we propose a hybrid approach based on the Lyapunov Guidance Vector Field (LGVF) and the Improved Interfered Fluid Dynamical System (IIFDS), to solve the problems of target tracking and obstacle avoidance in three-dimensional cooperative path planning for multiple unmanned aerial vehicles (UAVs). First, LGVF method is improved for UAV cooperative target tracking in 3D environment by introducing vertical component, with two guidance layers containing steering control and speed control. Second, IIFDS method is presented for UAVs to avoid obstacles or threats in complicated environment, where the local minimum problem is well resolved. Moreover, some cooperative strategies are added into the IIFDS framework to satisfy the constraints of obstacle avoidance and cluster maintenance. Finally, the missions of tracking target and avoiding obstacles can be performed simultaneously, by replacing the original sink fluid of IIFDS with the vector field of LGVF. Besides, the reactive parameters of IIFDS can be adjusted by the rolling optimization strategy to enhance the path quality. The experimental results validate the effectiveness of the hybrid method.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Aerospace Science and Technology - Volume 54, July 2016, Pages 10-22
Journal: Aerospace Science and Technology - Volume 54, July 2016, Pages 10-22
نویسندگان
Peng Yao, Honglun Wang, Zikang Su,