Coordinated target assignment and intercept for unmanned air vehicles

被引：496
|
作者：
Beard, RW [1 ]
McLain, TW
Goodrich, MA
Anderson, EP
机构：
[1] Brigham Young Univ, Dept Elect & Comp Engn, Provo, UT 84602 USA
[2] Brigham Young Univ, Dept Mech Engn, Provo, UT 84602 USA
[3] Brigham Young Univ, Dept Comp Sci, Provo, UT 84602 USA
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2002年 / 18卷 / 06期
关键词：
cooperation; multiagent coordination; path planning; trajectory generation; unmanned air vehicles;
D O I：
10.1109/TRA.2002.805653
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 an end-to-end solution to the cooperative control problem represented by the scenario where M unmanned air vehicles (UAVs) are assigned to transition through N known target locations in the presence of dynamic threats. The problem is decomposed into the subproblems of: 1) cooperative target assignment; 2) coordinated UAV intercept; 3) path planning; 4) feasible trajectory generation; and 5) asymptotic trajectory following. The design technique is based on a hierarchical approach to coordinated control. Simulation results are presented to demonstrate the effectiveness of the approach.
引用
收藏
页码：911 / 922
页数：12
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