Chain-Based Path Planning for Multiple UAVs

被引：0

作者：

Argyle, Matthew ^{[1
]}

Chamberlain, Caleb ^{[2
]}

Beard, Randy ^{[3
]}

机构：

[1] Brigham Young Univ, Dept Elect Eng, Provo, UT 84602 USA

[2] Ch Robotics LLC, Provo, UT 84606 USA

[3] Brigham Young Univ, Dept Elect Engn, Provo, UT 84601 USA

来源：

2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC) | 2011年

关键词：

AIR;

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 UAV path planning strategy for optimizing the return over a finite-time horizon, where the return is specified by a bounded differentiable reward function. We represent paths using a simulated chain in a force field, where the forces are influenced by the reward function. The chain adapts continuously to changes in the return function, and produces good paths with minimal computational overhead. We compare the chain-based path planner to a look-ahead planner and extend this approach to multiple UAVs in a centralized manner.

引用

页码：2738 / 2743

页数：6

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