Trajectory planning of formation rendezvous multiple unmanned aerial vehicles (UAVs) is formulated as a mixed-integer optimal control problem, and an efficient hierarchical approach based on the Dubins path sequential convex programming proposed. The proposed method includes assignment points (high level) generation cooperative trajectories (low level). At high level, to UAVs optimized minimize total length Dubins-path-based approximate trajectories. results determine geometric relations...

In this paper, the multi-missile cooperative guidance system is formulated as a general nonlinear multi-agent system. To save limited communication resources, an adaptive event-triggered optimal law proposed by designing synchronization-error-driven triggering condition, which brings together consensus control with Adaptive Dynamic Programming (ADP) technique. Then, developed distributed can be employed finding approximate solution of coupled Hamilton-Jacobi-Bellman (HJB) equation. address...

This paper presents a modified genetic algorithm using target-bundle-based encoding and tailored operators to effectively tackle cooperative multiple task assignment problems of heterogeneous unmanned aerial vehicles. In the problem, tasks including reconnaissance, attack, verification have be sequentially performed on each target (e.g. ground control stations, tanks, etc.) by one or Due precedence constraints different tasks, singular task-execution order may cause deadlock situations, i.e....

This letter comprehensively investigates the performance of six state-of-art distributed task allocation algorithms (i.e., CBAA, CBBA, HIPC, PI, DHBA, and DGA) subject to non-ideal communication factors. The package loss, bit error, time delay factors are considered in process. for multi-UAV collaborative visit missions is compared under pre-allocation dynamic scenarios. synchronous asynchronous modes separately utilized different scenarios analyzing effects Comparison results show that...

This paper presents the coupling-degree-based heuristic prioritized planning method (CDH-PP) to improve efficiency and robustness of swarm path planning. The proposed decouples generation problem into a series single-UAV problems. And couplingdegree-based priority criterion is tailored determine order UAV swarms. coupling degree matrix established relations among swarms based on collision-detection algorithm. Anytime repairing sparse A*algorithm (AR-SAS) adopted plan for considering...

To solve the problem of cooperative target tracking considering ground moving-targets and threats, a novel approach for multiple unmanned aerial vehicles (multi-UAV) using sparse A* search Standoff algorithms is proposed. Firstly, algorithm introduced to generate paths UAVs subject threats UAV kinematics constraints. And multi-UAV rendezvous at predefined formation nearby moving-target. Then, distance relative phase angle constraints, utilized paths. Simulation results demonstrate that...

Sequential convex programming (SCP) has been recently employed in various trajectory planning problems, including entry flight, planetary landing, and aircraft formation. In SCP, subproblems are sequentially solved to obtain the optimum of original nonconvex problems. For SCP-based quadrotor planning, this paper proposes a matrix-structure-driven interior point method (MSD-IPM) improve efficiency solving search directions programming. MSD-IPM, primal-dual systems for derived from...

Compared with traditional internal-combustion engine powered UAVs, electric UAVs have no emission of pollutants and low acoustic signal.So they are more suitable for military or civil missions involving intelligence, surveillance, reconnaissance (ISR).This paper builds two propulsion systems by lithium-ion batteries a proton exchange membrane fuel cell (PEMFC) respectively altitude UAVs.The power sources built SimPowerSystems blockset in Matlab/Simulink the UAV model is modeled AeroSim...

This paper presents an effective method for unmanned aerial vehicle (UAV) dynamic path planning considering moving-target and obstacle-avoidance constraints. In the process of planning, positions are predicted using Kalman filtering algorithm on receding horizon. Then, anytime repairing sparse A <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> (AR-SAS) is customized to generate feasible paths from staring positions. By rolling UAVs able...

The formation trajectory planning using complete graphs to model collaborative constraints becomes computationally intractable as the number of drones increases due curse dimensionality. To tackle this issue, paper presents a sparse graph construction method for realize better efficiency-performance trade-off. Firstly, sparsification mechanism is designed ensure global rigidity sparsified graphs, which necessary condition uniquely corresponding geometric shape. Secondly, good constructed...

Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles (UAVs) in dense obstacle environments remains computationally intractable. This paper proposes a Safe Flight Corridor constrained Sequential Convex Programming (SFC-SCP) to improve the computation efficiency and reliability of generation. SFC-SCP combines front-end convex polyhedron SFC construction back-end SCP-based optimization. A Sparse A* Search (SAS) driven method is designed efficiently generate...

This paper presents a distributed trajectory planning method supporting parallel computation based on receding horizon control (RHC) and sequential convex programming (SCP) for quadrotor swarms in known environments with obstacles. The proposed method, denoted as RHC-SCP (dRHC-SCP), divides the swarm problem into series of short-horizon problems to reduce burden. In each horizon, dRHC-SCP solves an iterative framework via efficient SCP algorithm. process SCP, uses trajectories generated last...

This paper presents a receding path planning method using priority-based artificial potential field (PAPF) for UAV swarms considering moving obstacle and inter-UAV collision avoidance constraint. To enhance computational efficiency, PAPF is proposed to decouple the swarm cooperative problem into series of single-UAV problems. The mechanism used reduce horizon further burden. In each horizon, when sequentially generating paths multiple UAVs, lower priority UAVs treat points higher ones as...

This paper proposes a novel distributed optimal backstepping control method for class of nonlinear multi-agent systems in strict-feedback form with output constraints. The virtual and actual controls can be locally optimized by designing their cost functions every step. Furthermore, unified barrier Lyapunov function (UBLF) is designed to prevent the outputs violating constraints, which still effective whether constraints exist or not. By constructing feedforward+feedback composite framework,...