Collision-Free Multi-UAV Optimal Path Planning and Cooperative Control for Tactical Applications
Loading...
Authors
Bollino, Kevin P.
Lewis, L. Ryan
Subjects
optimal path planning
unmanned aerial vehicle (UAV)
flight trajectory optimization
system performance
unmanned aerial vehicle (UAV)
flight trajectory optimization
system performance
Advisors
Date of Issue
2008-08-18
Date
August 18-21, 2008
Publisher
The American Institute of Aeronautics and Astronautics (AIAA)
Language
Abstract
Stemming from previous work that addressed the optimal path planning of an unmanned aerial vehicle (UAV) in obstacle-rich environments, this paper demonstrates the approach's scalability to that of a multi-UAV application. The proposed concept, based on optimal control techniques and Pseudospectral methods, offers the improved system flexibility and autonomy demanded by UAV tactical missions in urban areas. As demonstrated, employing optimal control methods for path planning problems provides a simplistic yet powerful capability of flight trajectory optimization that includes simultaneous collision avoidance between vehicles and terrain obstacles. Departing from traditional techniques that harbor non-optimal architectures, the employed method facilitates real-time, onboard computations that may potentially improve overall system performance. Recent developments in the field of optimal control theory point at an emerging paradigm shift that may involve less dependency on the typical inner-loop control. Extending these developments, this paper provides not only a fresh perspective, but also illustrates a viable technique for efficiently generating maneuvering flight trajectories for single vehicles or multiple vehicle sorties.
Type
Conference Paper
Description
The article of record as published may be located at http://dx.doi.org/10.2514/6.2008-7134
AIAA Guidance, Navigation and Control Conference and Exhibit 18 - 21 August 2008, Honolulu, Hawaii
AIAA Guidance, Navigation and Control Conference and Exhibit 18 - 21 August 2008, Honolulu, Hawaii
Series/Report No
Department
Mechanical & Astronautical Engineering
Organization
Naval Postgraduate School (U.S.)
American Institute of Aeronautics and Astronautics (AIAA)
Identifiers
NPS Report Number
Sponsors
Funder
NA
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.