Optimal Motion Primitives for Multi-UAV Convoy Protection

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Rahmani, Amir R.
Ding, Xu Chu
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http://hdl.handle.net/1853/38575
Abstract
In this paper we study the problem of controlling a number of Unmanned Aerial Vehicles (UAVs) to provide convoy protection to a group of ground vehicles. The UAVs are modeled as Dubins vehicles flying at a constant altitude with bounded turning radius. This paper first presents time-optimal paths for providing convoy protection to static ground vehicles. Then this paper addresses paths and control strategies to provide convoy protection to ground vehicles moving on a straight line. Minimum numbers of UAVs required to provide perpetual convoy protection for both cases are derived.
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2010-05
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