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

^*此作品的通讯作者

自动化学院

Beijing Institute of Technology
Aviation University of Air Force

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

2 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	Proceedings of the 38th Chinese Control Conference, CCC 2019
编辑	Minyue Fu, Jian Sun
出版商	IEEE Computer Society
页	6206-6211
页数	6
ISBN（电子版）	9789881563972
DOI	https://doi.org/10.23919/ChiCC.2019.8866636
出版状态	已出版 - 7月 2019
活动	38th Chinese Control Conference, CCC 2019 - Guangzhou, 中国期限: 27 7月 2019 → 30 7月 2019

出版系列

姓名	Chinese Control Conference, CCC
卷	2019-July
ISSN（印刷版）	1934-1768
ISSN（电子版）	2161-2927

会议

会议	38th Chinese Control Conference, CCC 2019
国家/地区	中国
市	Guangzhou
时期	27/07/19 → 30/07/19

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.23919/ChiCC.2019.8866636

其它文件与链接

链接到 Scopus 的出版物

引用此

Han, D., Ma, A., Zhang, Y., Liu, K., & Xia, Y. (2019). Distributed trajectory optimization method for multi-UAV formation rendezvous over directed networks. 在 M. Fu, & J. Sun (编辑), Proceedings of the 38th Chinese Control Conference, CCC 2019 (页码 6206-6211). 文章 8866636 (Chinese Control Conference, CCC; 卷 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. 在 M Fu & J Sun (编辑), Proceedings of the 38th Chinese Control Conference, CCC 2019., 8866636, Chinese Control Conference, CCC, 卷 2019-July, IEEE Computer Society, 页码 6206-6211, 38th Chinese Control Conference, CCC 2019, Guangzhou, 中国, 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 等.
Proceedings of the 38th Chinese Control Conference, CCC 2019. 编辑 / Minyue Fu; Jian Sun. IEEE Computer Society, 2019. 页码 6206-6211 8866636 (Chinese Control Conference, CCC; 卷 2019-July).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

指纹

引用此