Distributed trajectory optimization method for multi-UAV formation rendezvous over directed networks

Dongyu Han; Aoyun Ma; Yongpo Zhang; Kun Liu; Yuanqing Xia

doi:10.23919/ChiCC.2019.8866636

Distributed trajectory optimization method for multi-UAV formation rendezvous over directed networks

Dongyu Han
, Aoyun Ma
, Yongpo Zhang
, Kun Liu^*
, Yuanqing Xia

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology
Aviation University of Air Force

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

This paper proposes a distributed trajectory optimization method for multiple unmanned aerial vehicles' (UAVs) formation rendezvous problems. A trajectory optimization problem that minimizes the energy consumption and requires simultaneous rendezvous is established. To solve this problem distributedly, it is decoupled into a master problem and several subproblems. Each UAV solves the subproblem independently, and UAVs cooperate over directed networks to optimize the master problem using a proposed distributed subgradient algorithm. Furthermore, the convergence analysis of the proposed distributed subgradient algorithm over directed graphs is provided. Finally, simulation result shows the effectiveness of the distributed trajectory optimization method.

Original language	English
Title of host publication	Proceedings of the 38th Chinese Control Conference, CCC 2019
Editors	Minyue Fu, Jian Sun
Publisher	IEEE Computer Society
Pages	6206-6211
Number of pages	6
ISBN (Electronic)	9789881563972
DOIs	https://doi.org/10.23919/ChiCC.2019.8866636
Publication status	Published - Jul 2019
Event	38th Chinese Control Conference, CCC 2019 - Guangzhou, China Duration: 27 Jul 2019 → 30 Jul 2019

Publication series

Name	Chinese Control Conference, CCC
Volume	2019-July
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	38th Chinese Control Conference, CCC 2019
Country/Territory	China
City	Guangzhou
Period	27/07/19 → 30/07/19

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Directed Networks
Distributed optimization
Formation Rendezvous
Trajectory optimization
UAVs

Access to Document

10.23919/ChiCC.2019.8866636

Cite this

Han, D., Ma, A., Zhang, Y., Liu, K., & Xia, Y. (2019). Distributed trajectory optimization method for multi-UAV formation rendezvous over directed networks. In M. Fu, & J. Sun (Eds.), Proceedings of the 38th Chinese Control Conference, CCC 2019 (pp. 6206-6211). Article 8866636 (Chinese Control Conference, CCC; Vol. 2019-July). IEEE Computer Society. https://doi.org/10.23919/ChiCC.2019.8866636

@inproceedings{3776b718b6764a1ba9d758d21ac831b9,

title = "Distributed trajectory optimization method for multi-UAV formation rendezvous over directed networks",

abstract = "This paper proposes a distributed trajectory optimization method for multiple unmanned aerial vehicles' (UAVs) formation rendezvous problems. A trajectory optimization problem that minimizes the energy consumption and requires simultaneous rendezvous is established. To solve this problem distributedly, it is decoupled into a master problem and several subproblems. Each UAV solves the subproblem independently, and UAVs cooperate over directed networks to optimize the master problem using a proposed distributed subgradient algorithm. Furthermore, the convergence analysis of the proposed distributed subgradient algorithm over directed graphs is provided. Finally, simulation result shows the effectiveness of the distributed trajectory optimization method.",

keywords = "Directed Networks, Distributed optimization, Formation Rendezvous, Trajectory optimization, UAVs",

author = "Dongyu Han and Aoyun Ma and Yongpo Zhang and Kun Liu and Yuanqing Xia",

note = "Publisher Copyright: {\textcopyright} 2019 Technical Committee on Control Theory, Chinese Association of Automation.; 38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",

year = "2019",

month = jul,

doi = "10.23919/ChiCC.2019.8866636",

language = "English",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "6206--6211",

editor = "Minyue Fu and Jian Sun",

booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",

address = "United States",

}

Han, D, Ma, A, Zhang, Y, Liu, K & Xia, Y 2019, Distributed trajectory optimization method for multi-UAV formation rendezvous over directed networks. in M Fu & J Sun (eds), Proceedings of the 38th Chinese Control Conference, CCC 2019., 8866636, Chinese Control Conference, CCC, vol. 2019-July, IEEE Computer Society, pp. 6206-6211, 38th Chinese Control Conference, CCC 2019, Guangzhou, China, 27/07/19. https://doi.org/10.23919/ChiCC.2019.8866636

Distributed trajectory optimization method for multi-UAV formation rendezvous over directed networks. / Han, Dongyu; Ma, Aoyun; Zhang, Yongpo et al.
Proceedings of the 38th Chinese Control Conference, CCC 2019. ed. / Minyue Fu; Jian Sun. IEEE Computer Society, 2019. p. 6206-6211 8866636 (Chinese Control Conference, CCC; Vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Distributed trajectory optimization method for multi-UAV formation rendezvous over directed networks

AU - Han, Dongyu

AU - Ma, Aoyun

AU - Zhang, Yongpo

AU - Liu, Kun

AU - Xia, Yuanqing

PY - 2019/7

Y1 - 2019/7

N2 - This paper proposes a distributed trajectory optimization method for multiple unmanned aerial vehicles' (UAVs) formation rendezvous problems. A trajectory optimization problem that minimizes the energy consumption and requires simultaneous rendezvous is established. To solve this problem distributedly, it is decoupled into a master problem and several subproblems. Each UAV solves the subproblem independently, and UAVs cooperate over directed networks to optimize the master problem using a proposed distributed subgradient algorithm. Furthermore, the convergence analysis of the proposed distributed subgradient algorithm over directed graphs is provided. Finally, simulation result shows the effectiveness of the distributed trajectory optimization method.

AB - This paper proposes a distributed trajectory optimization method for multiple unmanned aerial vehicles' (UAVs) formation rendezvous problems. A trajectory optimization problem that minimizes the energy consumption and requires simultaneous rendezvous is established. To solve this problem distributedly, it is decoupled into a master problem and several subproblems. Each UAV solves the subproblem independently, and UAVs cooperate over directed networks to optimize the master problem using a proposed distributed subgradient algorithm. Furthermore, the convergence analysis of the proposed distributed subgradient algorithm over directed graphs is provided. Finally, simulation result shows the effectiveness of the distributed trajectory optimization method.

KW - Directed Networks

KW - Distributed optimization

KW - Formation Rendezvous

KW - Trajectory optimization

KW - UAVs

UR - https://www.scopus.com/pages/publications/85074437000

U2 - 10.23919/ChiCC.2019.8866636

DO - 10.23919/ChiCC.2019.8866636

M3 - Conference contribution

AN - SCOPUS:85074437000

T3 - Chinese Control Conference, CCC

SP - 6206

EP - 6211

BT - Proceedings of the 38th Chinese Control Conference, CCC 2019

A2 - Fu, Minyue

A2 - Sun, Jian

PB - IEEE Computer Society

T2 - 38th Chinese Control Conference, CCC 2019

Y2 - 27 July 2019 through 30 July 2019

ER -

Distributed trajectory optimization method for multi-UAV formation rendezvous over directed networks

Abstract

Publication series

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UN SDGs

Keywords

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