NDLI: Real-time path planning for multi-UAVs with share of threats information

Content Provider	IEEE Xplore Digital Library
Author	Limeng Zhao Zheng Zheng Wei Liu Kai-Yuan Cai Shumin Lin
Copyright Year	2011
Description	Author affiliation: Department of Automatic Control, Beijing University of Aeronautics and Astronautics, Beijing, China (Limeng Zhao; Zheng Zheng; Wei Liu; Kai-Yuan Cai; Shumin Lin)
Abstract	In this paper, a real-time path planning approach in consideration of threats information sharing is proposed for multiple unmanned aerial vehicles (UAVs) with predetermined rendezvous in hostile environment. This approach obtains turn angles in two-dimensional (2-D) rough terrain by fuzzy reasoning with feedback on rule base. Virtual subgoal is defined and applied to make full use of the threats information and avoid iterations of previous trajectory. The path planning is classified into three behaviors: path-searching (PS) behavior in the regional range, goal-seeking (GS) and virtual goal seeking (VGS) behavior in the global range. The UAVs detect threats information in real-time and share the information with each other. Target planner coordinates the GS and VGS according to all the known threats information and UAV's real-time position. Finally, simulations prove that the proposed approach gives good and satisfactory results.
Starting Page	1359
Ending Page	1364
File Size	1031618
Page Count	6
File Format	PDF
ISBN	9781424487547
e-ISBN	9781424487561
e-ISBN	9781424487554
DOI	10.1109/ICIEA.2011.5975799
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Probabilistic logic Fuzzy reasoning Real time systems Radar Fuzzy sets Indexes Fuzzy Reasoning Virtual Goal Multi-UAVs information share
Content Type	Text
Resource Type	Article

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