| Citation: | Zeng Jia, Shen Gongzhang, Xia Jie, et al. Cooperative trajectory planning for UAV towards moving target aground[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(7): 887-890. (in Chinese)
|
In contrast to the most existing unmanned aerial vehicle (UAV) cooperative trajectory planners that are suitable for stationary targets, a novel decentralized cooperative trajectory planning method for UAV towards moving target aground was proposed. The decentralized cooperative trajectory planning scheme was given and the time advancing mechanism by alternation of self-planning and synchronized-planning was adopted to match the constraints of information transfer interval. The heuristic information function suitable for moving target aground was constructed to enhance the UAV trajectory feasibility. The heuristic search algorithm was used to generate the trajectory segments, which make UAV reacting to target movement aground. The decentralized computing method for cooperative variable was designed to reduce the cooperative computing. The simulation results show that the method could generate the real time three-dimensional cooperative trajectory for UAV towards moving target aground via information transfer and decentralized computing, which meets the real time application requirement.
|
[1] McLain T,Beard R．Trajectory planning for coordinated rendezvous of unmanned air vehicles ．AIAA-00-4369,2000 [2] McLain T,Chandler P,Pachter M．A decomposition strategy for optimal coordination of unmanned air vehicles Proceedings of the American Control Conference.Piscataway,NJ:Institute of Electrical and Electronics Engineers Inc,2000,1:369-373 [3] Grundel D．Searching for a moving target: optimal path planning 2005 IEEE Networking, Sensing and Control, ICNSC2005-Proceedings.Piscataway, NJ:Institute of Electrical and Electronics Engineers Inc,2005:867-872 [4] Ishida T,Korf R．Moving-target search: a real-time search for changing goals[J]．IEEE Trans. Pattern Analysis and Machine Intelligence,1995,17(6):609-619 [5] 郑昌文,丁明跃,关世义,等．一种针对运动目标的飞行器航迹搜索算法[J]．宇航学报,2003,24(5):444-450 Zheng Changwen,Ding Mingyue,Guan Shiyi,et al．A route planning algorithm for unmanned air vehicle towards moving target[J]．Journal of Astronautics,2003,24(5):444-450(in Chinese) [6] 夏洁,高金源．满足战场需求的实时飞行路径规划[J]．北京亚洲成人在线一二三四五六区学报,2004,30(2):95-99 Xia Jie,Gao Jinyuan．Real-time flight path planning for combat mission[J]．Journal of Beijing University of Aeronautics and Astronautics,2004,30(2):95-99(in Chinese)
|
Copyright © Journal of Beijing University of Aeronautics and Astronautics
Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@cqjj8.com
Supported by:
Beijing Renhe Information Technology Co., Ltd.
DownLoad: