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

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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.

Original languageEnglish
Title of host publicationProceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6937-6942
Number of pages6
ISBN (Electronic)9781665440899
DOIs
Publication statusPublished - 2021
Event33rd Chinese Control and Decision Conference, CCDC 2021 - Kunming, China
Duration: 22 May 202124 May 2021

Publication series

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

Conference

Conference33rd Chinese Control and Decision Conference, CCDC 2021
Country/TerritoryChina
CityKunming
Period22/05/2124/05/21

Keywords

  • Communication Delays
  • Inter-UAV collision avoidance
  • Kalman Flitering
  • Multi-UAVs
  • Path Planning

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