Information-Compensation-based Receding Path Planning for Multi-UAVs under Communication Delays

被引：0

作者：

Wang, Yangjie ^{[1
]}

Sun, Jingliang ^{[1
]}

Long, Teng ^{[1
]}

Li, Junzhi ^{[1
]}

Xu, Guangtong ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China

来源：

PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021) | 2021年

关键词：

Multi-UAVs; Path Planning; Communication Delays; Inter-UAV collision avoidance; Kalman Flitering;

D O I：

10.1109/CCDC52312.2021.9601740

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a novel receding path planning method for multi-UAVs to increase the success rate of cooperative path planning under communication delays. Firstly, path planning problem for multi-UAVs is decomposed into a series of short horizon sub-problems via receding planning framework to reduce the computational burden. An analytical solution to the collision avoidance algorithm is deduced, which can ensure the safety among discretized path points. To enhance the success rate of path planning for multi-UAVs under communication delays, Kalman filtering method is utilized for compensating delay information, which the current position of UAV is estimated by its previous position and delay time. Finally, the numerical simulation demonstrates the effectiveness of the proposed method.

引用

页码：6937 / 6942

页数：6

共 14 条

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