Optimal Path Planning for Multi-UAV Based on Pseudo-spectral Method

Jin Pengfei; Cui Yu; Wang Aihua; Hou Zhenqian; Wang Yichong

doi:10.1109/ICBAIE49996.2020.00094

Optimal Path Planning for Multi-UAV Based on Pseudo-spectral Method

Jin Pengfei, Cui Yu, Wang Aihua, Hou Zhenqian, Wang Yichong

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

The quadrotor has a dynamics with strong nonlinearity, and path planning for quadrotors in obstacle environment will be a complex multi-constraint optimization problem. Based on the pseudo-spectral method, this paper transforms the optimal control problem with complex constraints into a nonlinear programming problem. To improve solving efficiency, the distributed solution is adopted, and the Nash optimal coordination strategy is adopted to ensure the optimality of the whole system. The simulation results show that this method can complete the optimal path planning for quadrotors formation under complex multi-constraint conditions.

源语言	英语
主期刊名	Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020
出版商	Institute of Electrical and Electronics Engineers Inc.
页	417-422
页数	6
ISBN（电子版）	9781728164991
DOI	https://doi.org/10.1109/ICBAIE49996.2020.00094
出版状态	已出版 - 6月 2020
已对外发布	是
活动	2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020 - Virtual, Fuzhou, 中国期限: 12 6月 2020 → 14 6月 2020

出版系列

姓名	Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020

会议

会议	2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020
国家/地区	中国
市	Virtual, Fuzhou
时期	12/06/20 → 14/06/20

访问文件

10.1109/ICBAIE49996.2020.00094

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引用此

Pengfei, J., Yu, C., Aihua, W., Zhenqian, H., & Yichong, W. (2020). Optimal Path Planning for Multi-UAV Based on Pseudo-spectral Method. 在 Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020 (页码 417-422). 文章 9196451 (Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICBAIE49996.2020.00094

Pengfei, Jin ; Yu, Cui ; Aihua, Wang 等. / Optimal Path Planning for Multi-UAV Based on Pseudo-spectral Method. Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020. Institute of Electrical and Electronics Engineers Inc., 2020. 页码 417-422 (Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020).

@inproceedings{f75dc77215f0419fa886804dc2ca5398,

title = "Optimal Path Planning for Multi-UAV Based on Pseudo-spectral Method",

abstract = "The quadrotor has a dynamics with strong nonlinearity, and path planning for quadrotors in obstacle environment will be a complex multi-constraint optimization problem. Based on the pseudo-spectral method, this paper transforms the optimal control problem with complex constraints into a nonlinear programming problem. To improve solving efficiency, the distributed solution is adopted, and the Nash optimal coordination strategy is adopted to ensure the optimality of the whole system. The simulation results show that this method can complete the optimal path planning for quadrotors formation under complex multi-constraint conditions.",

keywords = "Nash optimality, path planning, pseudo-spectral method, quadrotor",

author = "Jin Pengfei and Cui Yu and Wang Aihua and Hou Zhenqian and Wang Yichong",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020 ; Conference date: 12-06-2020 Through 14-06-2020",

year = "2020",

month = jun,

doi = "10.1109/ICBAIE49996.2020.00094",

language = "English",

series = "Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "417--422",

booktitle = "Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020",

address = "United States",

}

Pengfei, J, Yu, C, Aihua, W, Zhenqian, H & Yichong, W 2020, Optimal Path Planning for Multi-UAV Based on Pseudo-spectral Method. 在 Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020., 9196451, Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020, Institute of Electrical and Electronics Engineers Inc., 页码 417-422, 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020, Virtual, Fuzhou, 中国, 12/06/20. https://doi.org/10.1109/ICBAIE49996.2020.00094

Optimal Path Planning for Multi-UAV Based on Pseudo-spectral Method. / Pengfei, Jin; Yu, Cui; Aihua, Wang 等.
Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020. Institute of Electrical and Electronics Engineers Inc., 2020. 页码 417-422 9196451 (Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Optimal Path Planning for Multi-UAV Based on Pseudo-spectral Method

AU - Pengfei, Jin

AU - Yu, Cui

AU - Aihua, Wang

AU - Zhenqian, Hou

AU - Yichong, Wang

PY - 2020/6

Y1 - 2020/6

N2 - The quadrotor has a dynamics with strong nonlinearity, and path planning for quadrotors in obstacle environment will be a complex multi-constraint optimization problem. Based on the pseudo-spectral method, this paper transforms the optimal control problem with complex constraints into a nonlinear programming problem. To improve solving efficiency, the distributed solution is adopted, and the Nash optimal coordination strategy is adopted to ensure the optimality of the whole system. The simulation results show that this method can complete the optimal path planning for quadrotors formation under complex multi-constraint conditions.

AB - The quadrotor has a dynamics with strong nonlinearity, and path planning for quadrotors in obstacle environment will be a complex multi-constraint optimization problem. Based on the pseudo-spectral method, this paper transforms the optimal control problem with complex constraints into a nonlinear programming problem. To improve solving efficiency, the distributed solution is adopted, and the Nash optimal coordination strategy is adopted to ensure the optimality of the whole system. The simulation results show that this method can complete the optimal path planning for quadrotors formation under complex multi-constraint conditions.

KW - Nash optimality

KW - path planning

KW - pseudo-spectral method

KW - quadrotor

UR - http://www.scopus.com/inward/record.url?scp=85093675828&partnerID=8YFLogxK

U2 - 10.1109/ICBAIE49996.2020.00094

DO - 10.1109/ICBAIE49996.2020.00094

M3 - Conference contribution

AN - SCOPUS:85093675828

T3 - Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020

SP - 417

EP - 422

BT - Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020

Y2 - 12 June 2020 through 14 June 2020

ER -

Pengfei J, Yu C, Aihua W, Zhenqian H, Yichong W. Optimal Path Planning for Multi-UAV Based on Pseudo-spectral Method. 在 Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020. Institute of Electrical and Electronics Engineers Inc. 2020. 页码 417-422. 9196451. (Proceedings - 2020 International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2020). doi: 10.1109/ICBAIE49996.2020.00094

Optimal Path Planning for Multi-UAV Based on Pseudo-spectral Method

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