Title :
Cooperative planning method for swarm UAVs based on hierarchical strategy
Author :
Shiyou, Dong ; Xiaoping, Zhu ; Guoqing, Long
Author_Institution :
Coll. of Astronaut., Northwestern Polytech. Univ., Xi´´an, China
Abstract :
In this paper, the problem of controlling swarm UAVs is studied by considering a hierarchical strategy based on the local interactions. First swarm as a whole plans its own initial path using Voronoi graph and Dijkstra algorithm. Second swarm UAVs combine the low-level behaviors to yield swarm behaviors. The results achieved for such a strategy are verified by computer simulations.
Keywords :
autonomous aerial vehicles; computational geometry; digital simulation; graph theory; path planning; Dijkstra algorithm; Voronoi graph; computer simulations; cooperative planning method; hierarchical strategy; low-level behaviors; swarm UAV; Collision avoidance; Computer architecture; Educational institutions; Fuels; Microprocessors; Planning; Vectors; Cooperative Planning; Hierarchical Strategy; Swarm UAVs;
Conference_Titel :
System Science, Engineering Design and Manufacturing Informatization (ICSEM), 2012 3rd International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4673-0914-1
DOI :
10.1109/ICSSEM.2012.6340870
