Resource allocation with cooperative path planning for multiple UAVs
作者： Hyo-Sang Shin , Cedric Leboucher , Antonios Tsourdos
DOI: 10.1109/CONTROL.2012.6334646
关键词:
摘要: This study proposes an optimal resource allocation algorithm of multiple UAVs with cooperative path planning using a geometric approach. The focus the is on mission and task completion, also known as feasibility whilst coping operational physical constraints UAVs. Therefore, this first introduces based Pythagorean Hodgraphs (PH). Using Bernstein Bzier polynomials, can generate feasible safe (obstacle inter-collision free) paths which meet position orientation We then optimise Evolutionary Game Particle Swarm Optimisation (EGPSO) generated by planning. input parameter problem policy performance index chosen to be total flight time Here computed from produced algorithm. changes finds best minimise index. proposed investigated numerical examples simulated under realistic scenarios.
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