Information-Compensation-Based Receding Path Planning for Multi-UAVs under Communication Delays

Yangjie Wang, Jingliang Sun*, Teng Long, Junzhi Li, Guangtong Xu

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

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.

源语言英语
主期刊名Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021
出版商Institute of Electrical and Electronics Engineers Inc.
6937-6942
页数6
ISBN(电子版)9781665440899
DOI
出版状态已出版 - 2021
活动33rd Chinese Control and Decision Conference, CCDC 2021 - Kunming, 中国
期限: 22 5月 202124 5月 2021

出版系列

姓名Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021

会议

会议33rd Chinese Control and Decision Conference, CCDC 2021
国家/地区中国
Kunming
时期22/05/2124/05/21

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