@inproceedings{3f21ab9dd5e547c894f515e1c04db388,
title = "Information-Compensation-Based Receding Path Planning for Multi-UAVs under Communication Delays",
abstract = "This paper presents a novel receding path planning method for multi-UAVs to increase the success rate of cooperative path planning under communication delays. Firstly, path planning problem for multi-UAVs is decomposed into a series of short horizon sub-problems via receding planning framework to reduce the computational burden. An analytical solution to the collision avoidance algorithm is deduced, which can ensure the safety among discretized path points. To enhance the success rate of path planning for multi-UAVs under communication delays, Kalman filtering method is utilized for compensating delay information, which the current position of UAV is estimated by its previous position and delay time. Finally, the numerical simulation demonstrates the effectiveness of the proposed method.",
keywords = "Communication Delays, Inter-UAV collision avoidance, Kalman Flitering, Multi-UAVs, Path Planning",
author = "Yangjie Wang and Jingliang Sun and Teng Long and Junzhi Li and Guangtong Xu",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 33rd Chinese Control and Decision Conference, CCDC 2021 ; Conference date: 22-05-2021 Through 24-05-2021",
year = "2021",
doi = "10.1109/CCDC52312.2021.9601740",
language = "English",
series = "Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "6937--6942",
booktitle = "Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021",
address = "United States",
}