A novel coordinated path planning method using k-degree smoothing for multi-UAVs
A novel coordinated path planning method using k-degree smoothing for multi-UAVs
复制标题
一种新颖的多无人机k度平滑协调路径规划方法
DOI：
10.1016/j.asoc.2016.06.046
复制
发表时间：
2016-11-01
影响因子：
8.7
通讯作者：
Fan, Zhen
中科院分区：
文献类型：
--
作者：
Huang, Liwei;Qu, Hong;Fan, Zhen
多无人机协同航迹规划是多无人机协同控制中的一个重要问题。为了安全、高效地完成使命，先进的多无人机控制技术要求有一种通用的平滑方法和精确的协调策略。针对由多个威胁源构成的复杂环境，提出了一种基于k度平滑的多无人机协同航迹规划方法。采用改进的蚁群优化算法，提出了一种k度平滑方法，以获得一条更适合飞行的路径，并引入k度平滑算法，实现多无人机协调，使多无人机同时或在可接受的时间间隔内到达目的地。最后，通过与经典蚁群算法、平滑算法和协调算法的仿真比较，验证了该方法在多无人机协同路径规划问题中的可行性和有效性。(C)2016爱思唯尔B.V.保留所有权利。
Coordinated path planning for multiple unmanned aerial vehicles (multi-UAVs) is a highly significant problem encountered in their coordinated control. In the interests of completing mission securely and efficiently, the advanced multi-UAVs control technology requires a universal smoothing method as well as a precise coordination strategy. In this paper, we propose a novel multi-UAVs coordinated path planning method based on the k-degree smoothing, a more complex environment consists of multiple threat sources of which is constructed. By employing the Improved Ant Colony Optimization algorithm, a k-degree smoothing method is also presented aiming at obtaining a more flyable path. Additionally, the multi-UAVs coordination algorithm is induced by k-degree smoothing, allowing the UAVs to arrive at the destination simultaneously or in an acceptable time interval. Finally, simulations of the comparison between the Improved Ant Colony Optimization and classic algorithm, the detailed smoothing method, and the coordination are respectively conducted to validate that the proposed approach is feasible and effective in multi-UAVs coordinated path planning problems. (C) 2016 Elsevier B.V. All rights reserved.