Safe multi-cluster UAV continuum deformation coordination
Safe multi-cluster UAV continuum deformation coordination
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DOI：
10.1016/j.ast.2019.05.002
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发表时间：
2019-08
影响因子：
5.6
通讯作者：
H. Rastgoftar;E. Atkins
中科院分区：
文献类型：
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作者：
H. Rastgoftar;E. Atkins
提出了一种共享运动空间中多无人机集群协调的方法。无人机被安排在一个有限数量的团队，每个团队由一个领先的三角形包围。每个无人机集群的集体运动由一个连续变形来管理，该连续变形由位于主导三角形顶点处的三个主导者和包含在该三角形内的跟随者定义。每一个三角形簇都可以大幅变形，以支持在受限空间中的机动性。本文规定了必要的条件，以保证避障，以及避免碰撞内和跨所有集群在一个共享的运动空间。给定初始和目标配置，现有规划器（A*）以满足安全约束的方式识别从初始配置到最终配置的最短协调领导UAV路径。一个说明性的模拟案例研究。连续体变形遏制提供了可扩展性的无碰撞无人机运动规划以前没有实现的检测和避免文献。建议的多集群协调协议还扩展了以前的合作控制，以解决检测和避免（DAA）给定多个合作团队与不同的目的地。
This paper proposes a paradigm for coordination of multiple unmanned aerial vehicle (UAV) clusters in a shared motion space. UAVs are arranged in a finite number of teams each bounded by a leading triangle. Collective motion of each UAV cluster is managed by a continuum deformation defined by three leaders at the vertices of a leading triangle and followers contained within this triangle. Each triangular cluster can deform substantially to support maneuverability in constrained spaces. This paper specifies necessary conditions to guarantee obstacle avoidance as well as collision avoidance within and across all clusters operating in a shared motion space. Given initial and target configurations, an existing planner (A*) identifies the shortest coordinated leader UAV paths from initial to final configuration in a manner that satisfies safety constraints. An illustrative simulation case study is presented. Continuum deformation containment offers scalability in collision-free UAV motion planning not previously realized in the detect-and-avoid literature. The proposed multi-cluster coordination protocol also extends previous cooperative control to address detect-and-avoid (DAA) given multiple cooperative teams with different destinations.