NDLI: A bio-inspired collision-free 4D trajectory generation method for unmanned aerial vehicles based on tau theory

Content Provider	IEEE Xplore Digital Library
Author	Yang Zuqiang Fang Zhou Li Ping
Copyright Year	2015
Description	Author affiliation: Sch. of Aeronaut. & Astronaut., Zhejiang Univ., Hangzhou, China (Yang Zuqiang; Fang Zhou; Li Ping)
Abstract	A bio-inspired collision-free 4D trajectory generation method for Unmanned Aerial Vehicles (UAVs) is presented in this paper. The centralized method can provide an optimal or near-optimal 4D trajectory for every member in a UAV group. The trajectories are generated by the bio-inspired tau-G strategy which is more succinct than the existed methods, and the strategy can adjust speed of UAVs intelligently to meet the arrival time. Collisions between trajectories are detected by the Protected Airspace Zone method, and the collisions unresolved in the trajectory curvature adjustment process will be further planned by two conflict resolution approaches. The whole trajectory generation problem is optimized by Particle Swarm Optimization (PSO) algorithm with a stochastic initial solution. This method has been verified in simulations where multiple quad-rotors cooperatively complete a challenging simultaneous arrival mission.
Starting Page	6961
Ending Page	6968
File Size	456871
Page Count	8
File Format	PDF
ISBN	9789881563897
ISSN	19341768
DOI	10.1109/ChiCC.2015.7260740
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Technical Committee on Control Theory, Chinese Association of Automation
Subject Keyword	multi-UAVs Three-dimensional displays general tau theory Shape Trajectory Delays Acceleration Optimization 4D trajectory generation Vehicles
Content Type	Text
Resource Type	Article

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