Routing of Two Unmanned Aerial Vehicles with Communication Constraints

被引：0

作者：

Manyam, Satyanarayana G. ^{[1
]}

Rathinam, Sivakumar ^{[1
]}

Darbha, Swaroop ^{[1
]}

Casbeer, David ^{[2
]}

Chandler, Phil ^{[2
]}

机构：

[1] Texas A&M Univ, Mech Engn, College Stn, TX 77843 USA

[2] Air Force Res Lab, Control Sci Ctr Excellence, Wright Patterson AFB, OH USA

来源：

2014 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS) | 2014年

关键词：

MULTIPLE DEPOT; ALGORITHM;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

A novel GPS denied routing problem for UAVs is described, where two UAVs cooperatively navigate through an array of non-communicating Unattended Ground Sensors (UGS). Contact with UGS is strictly maintained, which allows the UGS act as beacons for relative navigation eliminating the need for dead reckoning. This problem is referred to as the Communication Constrained UAV Routing Problem (CCURP). To solve the CCURP, shortest paths between targets are computed by means of a graph transformation. Given the shortest paths between targets, two solution methods are presented. The first is a 15/2-approximation algorithm. The second method poses the CCURP as an one-in-a-set Traveling Salesman Problem (TSP), which can then be solved using known methods by transforming the problem into a regular asymmetric TSP. Computational results corroborating the performance bounds in this article are also presented.

引用

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页码：140 / 148

页数：9

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