Multi-UAV Convoy Protection: An Optimal Approach to Path Planning and Coordination

被引：108

作者：

Ding, Xu Chu ^{[1
]}

Rahmani, Amir R. ^{[1
]}

Egerstedt, Magnus ^{[1
]}

机构：

[1] Georgia Inst Technol, Sch Elect & Comp Engn, Atlanta, GA 30308 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2010年 / 26卷 / 02期

关键词：

Multi-agent control and coordination; optimal control; path planning; SHORTEST PATHS; SURVEILLANCE; CURVATURE; MOTION; CAR;

D O I：

10.1109/TRO.2010.2042325

中图分类号：

TP24 [机器人技术];

学科分类号：

140102 [集成电路设计与设计自动化];

摘要：

In this paper, we study the problem of controlling a group of unmanned aerial vehicles (UAVs) to provide convoy protection to a group of ground vehicles. The UAVs are modeled as Dubins vehicles flying at a constant altitude with bounded turning radius. We first present time-optimal paths to provide convoy protection to stationary ground vehicles. Then, we propose a control strategy to provide convoy protection to ground vehicles moving in straight lines. The minimum number of UAVs required to provide perpetual convoy protection, in both cases, are derived.

引用

页码：256 / 268

页数：13

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