Affiliation:
1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, P. R. China
2. College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, P. R. China
Abstract
Synchronous approaching is an important capability for autonomous cooperation of multiple unmanned aerial vehicles (UAVs). In this paper, a homotopy-based trajectory planning method is presented for the multi-UAV synchronous approaching problem. A homotopic trajectory description is employed to construct the trajectory solution space of the UAVs. A novel onion-like homotopy structure is proposed to decouple the performance indexes of the trajectory planning problem. Local trajectory homotopy structures are designed based on the detouring model and the hovering model of UAV. The optimal trajectories for synchronous approaching are searched within the homotopy structures. Simulation results show how synchronous the UAVs are, by using the proposed homotopy-based trajectory planning method.
Funder
National Natural Science Foundation of China
National Key R&D Program of China
Heilongjiang Provincial Natural Science Foundation of China
Young Elite Scientist Sponsorship Program by the China Association for Science and Technology
Sichuan Province Science and Technology Support Program
Publisher
World Scientific Pub Co Pte Ltd
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献