A real-time algorithm of task allocation and trajectory planning considering task weights for drone swarms

被引：1

作者：

Lee D. ^{[1
]}

机构：

[1] Agency for Defense Development, Korea, Republic of

来源：

Journal of Institute of Control, Robotics and Systems | 2021年 / 27卷 / 02期

关键词：

Drone; Swarm; Task allocation; Task weight; Trajectory planning;

D O I：

10.5302/J.ICROS.2021.20.0168

中图分类号：

学科分类号：

摘要：

This paper describes a real-time algorithm of task allocation and trajectory planning for drone swarms. The task allocation algorithm is designed based on the CAPT algorithm, and especially, it allocates tasks considering task weights. Also, the trajectory planning algorithm generates minimum snap trajectories which are dynamically feasible for drones of multi-rotor types, and guarantees collision avoidance between neighboring agents. The proposed algorithm is implemented using various libraries, and can be executable in the ROS environment, and simulation results confirm feasibility of the proposed algorithm. © ICROS 2021.

引用

页码：118 / 123

页数：5

共 5 条

[1]

Turpin M., Michael N., Kumar V., CAPT: Concurrent assignment and planning of trajectories for multiple robots, The International Journal of Robotic Research, 33, 1, pp. 98-112, (2014)

[2]

Lee D., A CAPT Based Real-time Task allocation and trajectory planning algorithm for drone swarms, Proc. of2020 35th ICROS Annual Conference, pp. 482-483, (2020)

[3]

Mellinger D., Kumar V., Minimum snap trajectory generation and control for quadrotors, Proc. of 2011 IEEE International Conference on Robotics and Auto”ation, pp. 2520-2525, (2011)

[4]

Lee D., Shim D.H., Development of a trajectory generation and tracking control system for a quadrotor UAV, Journal of Institute of Control, Robotics and Systems (in Korean), 25, 5, pp. 424-430, (2019)

[5]

Lee D., Shim D.H., A study on a three-dimensional path planning algorithm for a large-scale swarm, Journal of Institute of Control, Robotics and Systems (in Korean), 25, 12, pp. 1071-1076, (2019)

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