Title :
Cooperative control of multi-UAV with time constraint in the threat environment
Author :
Ma Pei-bei ; Fan Zuo-e ; Ji Jun
Author_Institution :
Dept. of Command, Naval Aeronaut. & Astronaut. Univ., Yantai, China
Abstract :
Cooperative control strategy can support coordinated attack for multi-UAV in threat environment, and achieve the greatest combat effectiveness with time constraint. It is a crucial problem with significant theoretical value and great practical value. Firstly, a cooperative path planning based expanded Voronoi diagram was proposed. The threat environments considered different types of threats and no-fly zones with different threat distances. Line-of-sight of path shortening algorithm and smoothing algorithm were proposed to realize dynamic optimization of the paths. Secondly, time error signal was obtained from real time-to-go and the estimated time-to-go by adopting a simple online time-to-go estimation method. Dynamic path planning on the basis of the estimated path was done to satisfy the impact time constraint. At last, simulation results proved validity and real-time. This method can support cooperative attack for multi-UAV.
Keywords :
autonomous aerial vehicles; computational geometry; cooperative systems; optimisation; path planning; cooperative control strategy; cooperative path planning based expanded Voronoi diagram; dynamic optimization; dynamic path planning; line-of-sight of path shortening algorithm; multi UAV; real time-to-go; simple online time-to-go estimation method; time constraint; time error signal; Heuristic algorithms; Optimization; Path planning; Smoothing methods; Target tracking; Time factors; Turning;
Conference_Titel :
Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4799-4700-3
DOI :
10.1109/CGNCC.2014.7007549