Journal of Beijing University of Posts and Telecommunications

  • EI核心期刊

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2013, Vol. 36 ›› Issue (5): 36-40.doi: 10.13190/j.jbupt.2013.05.008

• Papers • Previous Articles     Next Articles

Research on Multi-UAV Cooperative Trajectory Planning

LIN Lin, SUN Qi-bo, WANG Shang-guang, YANG Fang-chun   

  1. State Key Laboratory of Networking and Switching Technology, Beijing University of Posts and Telecommunications, Beijing 100876, China
  • Received:2012-12-25 Online:2013-10-31 Published:2013-08-09

Abstract:

A path balancing based ant colony optimization approach was presented. At first, in view of coordinated trajectory planning in dynamic and uncertain environments, the congestion factor was adopted to avoid collision between unmanned aerial vehicle (UAVs). Then, for time cooperation, the variable cooperative voyage was used to synchronize the arrival time of each UAV. With these premise of space-time collaborative, the trajectory for UAV fleet with minimum costs was selected. Simulation demonstrates the feasibility and the effectiveness of the proposed approach under complicated environment.

Key words: multiple unmanned aerial vehicles, trajectory planning, space-time cooperation, ant colony optimization, path balancing

CLC Number: