Online Two-Dimensional Route Planning for a Group of Unmanned Aerial Vehicles
- 作者: Goncharenko V.1,2, Lebedev G.1, Mikhailin D.3
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隶属关系:
- Moscow Aviation Institute (National Research University)
- Trapeznikov Institute of Control Sciences, Russian Academy of Sciences
- Main Scientific Research Center for Robotic Systems, Russian Ministry of Defense
- 期: 卷 58, 编号 1 (2019)
- 页面: 147-158
- 栏目: Control Systems of Moving Objects
- URL: https://journals.rcsi.science/1064-2307/article/view/220309
- DOI: https://doi.org/10.1134/S1064230719010076
- ID: 220309
如何引用文章
详细
This paper suggests a novel approach to online two-dimensional route planning for a coordinated flight of a group of unmanned aerial vehicles (UAVs) that complexifies the modified heuristic and integer matrix algorithms using a new nearness criterion of analyzed points to each route. As demonstrated below, this approach guarantees the maximal speed of coordinated flight planning. The modified Dijkstra algorithm that considers the consequences of choosing the nearest point on all future segments of a flight plan is proposed as the heuristic algorithm. For avoiding mistakes in the case of conflict (i.e., assigning a proper route for an analyzed point among the existing options), a modified integer branch-and-bound method is developed that includes the following operations: an alternating analysis of two distance matrices for each UAV; route choice for adding an assigned minimal-length element in each of the matrices. In case of conflict, this method removes short cross connections between paths and their intersections from the flight plan.
作者简介
V. Goncharenko
Moscow Aviation Institute (National Research University); Trapeznikov Institute of Control Sciences, Russian Academy of Sciences
编辑信件的主要联系方式.
Email: vladimirgonch@mail.ru
俄罗斯联邦, Moscow; Moscow
G. Lebedev
Moscow Aviation Institute (National Research University)
Email: vladimirgonch@mail.ru
俄罗斯联邦, Moscow
D. Mikhailin
Main Scientific Research Center for Robotic Systems, Russian Ministry of Defense
Email: vladimirgonch@mail.ru
俄罗斯联邦, Moscow
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