Multi-UAV Synchronous Approaching Using Homotopy-Based Trajectory Planning

被引：4

作者：

Yao, Weiran ^{[1
]}

Chen, Yang ^{[2
]}

Tian, Haoyu ^{[1
]}

Wu, Chengwei ^{[1
]}

Wu, Ligang ^{[1
]}

机构：

[1] Harbin Inst Technol, Sch Astronaut, Harbin 150001, Peoples R China

[2] Harbin Engn Univ, Coll Intelligent Syst Sci & Engn, Harbin 150001, Peoples R China

来源：

GUIDANCE NAVIGATION AND CONTROL | 2022年 / 02卷 / 02期

基金：

中国国家自然科学基金; 国家重点研发计划;

关键词：

Multi-UAV; synchronous approaching; homotopic method; trajectory planning; BOUNDED CURVATURE; DUBINS PATHS; VEHICLES; LENGTH;

D O I：

10.1142/S2737480722500121

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Synchronous approaching is an important capability for autonomous cooperation of multiple unmanned aerial vehicles (UAVs). In this paper, a homotopy-based trajectory planning method is presented for the multi-UAV synchronous approaching problem. A homotopic trajectory description is employed to construct the trajectory solution space of the UAVs. A novel onion-like homotopy structure is proposed to decouple the performance indexes of the trajectory planning problem. Local trajectory homotopy structures are designed based on the detouring model and the hovering model of UAV. The optimal trajectories for synchronous approaching are searched within the homotopy structures. Simulation results show how synchronous the UAVs are, by using the proposed homotopy-based trajectory planning method.

引用

页数：26

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