Cooperative Area Search for Multiple UAVs based on RRT and Decentralized Receding Horizon Optimization

被引：0

作者：

Peng, Hui ^{[1
]}

Su, Fei ^{[1
]}

Bu, Yanlong ^{[1
]}

Zhang, Guozhong ^{[1
]}

Shen, Lincheng ^{[1
]}

机构：

[1] Natl Univ Def Technol, Sch Mech Engn & Automat, Changsha 410073, Peoples R China

来源：

ASCC: 2009 7TH ASIAN CONTROL CONFERENCE, VOLS 1-3 | 2009年

关键词：

D O I：

暂无

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 decentralized method to the problem of multiple Unmanned Aerial Vehicles (UAVs) cooperative search of an unknown area. Firstly, based on search map model, the multiple UAVs cooperative search problem is posed as a receding horizon (RH) optimization decision problem, and a RH based UAV search decision process is proposed. Then, this centralized on-line optimization problem is partitioned into several UAV subsystems optimization problems and solved in a parallel manner using a Nash optimality based decentralized RH optimization method, and Particle Swarm Optimization (PSO) is used for subsystem optimization. Next, by introducing the heuristic information and improving the extension of node, a modified Rapidly-exploring Random Tree (RRT) based path planning algorithm is presented to the UAV search path planning. It is shown by simulation that the proposed method can reduce the size of multiple UAVs optimization decision problem, and lead to an efficient cooperative search for multiple UAVs.

引用

页码：298 / 303

页数：6

共 50 条

[1] Decentralized receding horizon control for multiple UAVs
Kuwata, Y
How, JP
[J]. THEORY AND ALGORITHMS FOR COOPERATIVE SYSTEMS, 2004, 4 : 169 - 192
[2] Receding horizon decision method based on MTPM and DPM for Multi-UAVs cooperative large area target search
[J]. Wei, R.-X. (rxwei369@sohu.com), 1600, Science Press (40):
[3] Cooperative Trajectory Planning for Multiple UAVs Using Distributed Receding Horizon Control and Inverse Dynamics Optimization Method
Zhang, Yu
Wang, Chao
Gu, Xueqiang
Chen, Jing
[J]. INFORMATION TECHNOLOGY AND INTELLIGENT TRANSPORTATION SYSTEMS, VOL 1, 2017, 454 : 39 - 53
[4] Decentralized Receding Horizon Control for Cooperative Multiple Vehicles Subject to Communication Delay
Izadi, Hojjat A.
Gordon, Brandon W.
Zhang, Youmin
[J]. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2009, 32 (06) : 1959 - 1965
[5] A Cooperative Approach to Multiple UAVs Searching for Moving Targets Based on a Hybrid of Virtual Force and Receding Horizon
Xiao, Xiao
Dong, Zhuoning
Wu, Jiang
Duan, Haibin
[J]. 2012 10TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS (INDIN), 2012, : 1228 - 1233
[6] Decentralized receding horizon control of cooperative vehicle formations
Borrelli, Francesco
Keviczky, Tamas
Fregene, Kingsley
Balas, Gary J.
[J]. 2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8, 2005, : 3955 - 3960
[7] Cooperative Interception Guidance for Multiple Vehicles: A Receding Horizon Optimization Approach
Yang, Baoqing
Liu, Hugh H. T.
Yao, Yu
[J]. 2014 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2014, : 827 - 831
[8] Multiple UAVs Collision Avoidance Trajectory Coordination Using Distributed Receding Horizon Optimization
Peng, Hui
Huo, Menglan
He, Yihui
Liu, Zhizhong
[J]. PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012), 2012, : 3999 - 4003
[9] CHAOTIC CHEMICAL REACTION OPTIMIZATION APPROACH TO RECEDING HORIZON CONTROL FOR MULTIPLE UAVS FORMATION
Zhang, Zenghu
Duan, Haibin
[J]. INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2015, VOL 9, 2016,
[10] Multiple Robots Formation Control Based On Receding Horizon Optimization
He, Yuqing
Han, Jianda
[J]. ICIA: 2009 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-3, 2009, : 719 - 724

← 1 2 3 4 5 →