Simultaneous arrival of multiple UAVs under imperfect communication
Simultaneous arrival of multiple UAVs under imperfect communication
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DOI：
10.1108/00022661211194960
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发表时间：
2012-01
影响因子：
1.5
通讯作者：
Iftikhar H. Makhdoom;Qin Shi-yin
中科院分区：
文献类型：
--
作者：
Iftikhar H. Makhdoom;Qin Shi-yin
目的--本文的目的是提出一种新的算法来解决多个无人机在任务中的轨迹和速度调整问题，该算法要求多个无人机同时到达目标位置，并且飞行器之间的切换和不完善的通信。设计/方法/途径-该算法在每个无人机级别编程，基于参与飞行器之间通过不完善的车间通信链路反复寻求关于到达目标的时间(TOT)的共识。车辆在特定持续时间内重复交换其各自的TOT值，以在通信中的所有车辆中挑选最高值。当共识成功时，共识置信度标志被设置为高。在每个置信度较高的共识周期后，通过计算TOT共识与阈值的差值进行任务调整。当差值大于某一限值时，车辆的运动轨迹为…
Purpose – The purpose of this paper is to propose a new algorithm for in‐mission trajectories and speed adjustment of multiple unmanned aerial vehicles (UAVs) participating in a mission that requires them to arrive at target location simultaneously with switching and imperfect communication among the vehicles.Design/methodology/approach – This algorithm, programmed at each UAV level, is based on the repeated consensus seeking among the participating vehicles about the time‐on‐target (ToT) through an imperfect inter‐vehicle communication link. The vehicles exchange their individual ToT values repeatedly for a particular duration to pick the highest value among all the vehicles in communication. A consensus confidence flag is set high when consensus is successful. After every consensus cycle with high confidence value, the mission adjustment is carried out by computing difference value between ToT consensus and a threshold value. For the difference values higher than a certain limit, vehicle's trajectory is...