Path Planning for Vehicle-borne System Consisting of Multi Air–ground Robots

作者: Yang Chen , Shiwen Ren , Zhihuan Chen , Mengqing Chen , Huaiyu Wu

DOI: 10.1017/S0263574719000808

关键词:

摘要: This paper considers the path planning problem for deployment and collection of a marsupial vehicle system which consists ground mobile robot two aerial flying robots. The robot, usually unmanned (UGV), as carrier, is able to deploy harvest robots, each vehicles (UAVs), takes off from lands on carrier. At same time, owing limited duration in air one flight, UAVs should return timely its energy-saving recharge. work motivated by cooperative search reconnaissance missions field heterogeneous system. Especially, some targets with given positions are assumed be visited any UAVs. For problem, this establishes mathematical model solve UGV. Many real constraints including maximum speed UGV, minimum charging time UAVs, hovering dynamic among UGV considered. objective function constructed minimizing completing whole mission. Finally, transformed into multi-constrained optimization then particle swarm algorithm used obtain results. Simulations comparisons verify feasibility effectiveness proposed method.

参考文章(41)
R. Huisman, Scheduling the Refuelling Activities of Multiple Heterogeneous Autonomous Mobile Robots TU Delft, Delft University of Technology. ,(2014)
Parikshit Maini, P. B. Sujit, On cooperation between a fuel constrained UAV and a refueling UGV for large scale mapping applications international conference on unmanned aircraft systems. pp. 1370- 1377 ,(2015) , 10.1109/ICUAS.2015.7152432
Jonathan C. Las Fargeas, Pierre T. Kabamba, Anouck R. Girard, Path planning for information acquisition and evasion using marsupial vehicles advances in computing and communications. pp. 3734- 3739 ,(2015) , 10.1109/ACC.2015.7171910
Yang Xiang, Liang Zhiwei, Wei Zhipeng, Cui Xuanyu, Dynamic path planning in RoboCup rescue simulation competition chinese control and decision conference. pp. 4341- 4344 ,(2015) , 10.1109/CCDC.2015.7162693
Neil Mathew, Stephen L. Smith, Steven L. Waslander, Planning Paths for Package Delivery in Heterogeneous Multirobot Teams IEEE Transactions on Automation Science and Engineering. ,vol. 12, pp. 1298- 1308 ,(2015) , 10.1109/TASE.2015.2461213
Danny Lee, Joe Zhou, Wong Tze Lin, Autonomous battery swapping system for quadcopter international conference on unmanned aircraft systems. pp. 118- 124 ,(2015) , 10.1109/ICUAS.2015.7152282
Chase C. Murray, Amanda G. Chu, The flying sidekick traveling salesman problem: Optimization of drone-assisted parcel delivery Transportation Research Part C-emerging Technologies. ,vol. 54, pp. 86- 109 ,(2015) , 10.1016/J.TRC.2015.03.005
Neil Mathew, Stephen L. Smith, Steven L. Waslander, A graph-based approach to multi-robot rendezvous for recharging in persistent tasks international conference on robotics and automation. pp. 3497- 3502 ,(2013) , 10.1109/ICRA.2013.6631066
George Lau, Hugh H. T. Liu, Real-Time Path Planning Algorithm for Autonomous Border Patrol: Design, Simulation, and Experimentation Journal of Intelligent and Robotic Systems. ,vol. 75, pp. 517- 539 ,(2014) , 10.1007/S10846-013-9841-7
Martin Klauco, Slavomir Blazek, Michal Kvasnica, Miroslav Fikar, Mixed-integer SOCP formulation of the path planning problem for heterogeneous multi-vehicle systems european control conference. pp. 1474- 1479 ,(2014) , 10.1109/ECC.2014.6862400