Collision-Free Multi-UAV Optimal Path Planning and Cooperative Control for Tactical Applications
Bollino, Kevin P.
Lewis, L. Ryan
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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.
The article of record as published may be located at http://dx.doi.org/10.2514/6.2008-7134AIAA Guidance, Navigation and Control Conference and Exhibit 18 - 21 August 2008, Honolulu, Hawaii
RightsThis 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.
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