摘要
To solve the pop-up threats avoidance problem of multiple unmanned autonomous vehicles (Multiple-UAV) formation in complex environment, a real-time path planning method is proposed based on convex optimization algorithm. First, the problem of pop-up threats avoidance is formulated as a constrained optimization problem based on the pop-up threats models and the UAV dynamics. Second, the constrained optimization problem is transformed into a series of convex optimization problems based on the equivalent transformation. Then, the convex optimization algorithm is used to iteratively solve the convex optimization problems, and interpolate the resulting path to get the path function. Because the direct method is adopted for the iteration in the solution process, so, the operation efficiency is high, and the real-time path planning can be realized. Finally, the simulation results of the path planning algorithm based on the Matlab show that the proposed algorithm can achieve real-time avoidance threats of multi-UAV formation.
投稿的翻译标题 | Convex optimization algorithm of avoidance path planning for multiple-UAV formation under emergency threats |
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源语言 | 繁体中文 |
页(从-至) | 2036-2043 |
页数 | 8 |
期刊 | Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University |
卷 | 40 |
期 | 12 |
DOI | |
出版状态 | 已出版 - 5 12月 2019 |
关键词
- Avoidance path
- Convex optimization algorithm
- Emergency threat
- Equivalent transformation
- Matlab
- Multi-UAV formation
- Path planning
- Threat avoidance
- Threats model