TY - GEN
T1 - Multiple UAVs cooperative path planning based on dynamic bayesian network
AU - Guo, Wenqiang
AU - Gao, Xiaoguang
AU - Xiao, Qinkun
PY - 2008
Y1 - 2008
N2 - For the sake of higher level of autonomy, based on Dynamic Bayesian networks (DBNs), a novel awareness frame is proposed for achieving cooperative control of multiple unmanned aerial vehicles (UAVs) in dynamic environment. With learning and inference algorithms for DBNs, the awareness in dynamic environment could be accomplished using parameters' change in relative DBN's transition networks based on derived fusion signal sequences. A cooperative path optimization algorithm against pop-up threats is provided for multiple UAVs under this awareness frame, which exploits knowledge about the given problem, together with a simple but efficient form of coordination variable among independent UAVs. Learning and inference for this awareness DBN are also discussed. Simulation results demonstrating the feasibility of this approach are presented.
AB - For the sake of higher level of autonomy, based on Dynamic Bayesian networks (DBNs), a novel awareness frame is proposed for achieving cooperative control of multiple unmanned aerial vehicles (UAVs) in dynamic environment. With learning and inference algorithms for DBNs, the awareness in dynamic environment could be accomplished using parameters' change in relative DBN's transition networks based on derived fusion signal sequences. A cooperative path optimization algorithm against pop-up threats is provided for multiple UAVs under this awareness frame, which exploits knowledge about the given problem, together with a simple but efficient form of coordination variable among independent UAVs. Learning and inference for this awareness DBN are also discussed. Simulation results demonstrating the feasibility of this approach are presented.
KW - Cooperative path planning
KW - Dynamic bayesian networks
KW - Dynamic environment
KW - Unmanned aerial vehicles (UAVs)
UR - http://www.scopus.com/inward/record.url?scp=52349092950&partnerID=8YFLogxK
U2 - 10.1109/CCDC.2008.4597755
DO - 10.1109/CCDC.2008.4597755
M3 - 会议稿件
AN - SCOPUS:52349092950
SN - 9781424417346
T3 - Chinese Control and Decision Conference, 2008, CCDC 2008
SP - 2401
EP - 2405
BT - Chinese Control and Decision Conference, 2008, CCDC 2008
T2 - Chinese Control and Decision Conference 2008, CCDC 2008
Y2 - 2 July 2008 through 4 July 2008
ER -