Title:
Multi-UAV Convoy Protection: An Optimal Approach to Path Planning and Coordination
Multi-UAV Convoy Protection: An Optimal Approach to Path Planning and Coordination
Author(s)
Ding, Xu Chu
Rahmani, Amir R.
Egerstedt, Magnus B.
Rahmani, Amir R.
Egerstedt, Magnus B.
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
In this paper we study the problem of controlling
a group 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. We first present time-optimal paths for providing
convoy protection to stationary ground vehicles. Then we propose
a control strategy to provide convoy protection to ground vehicles
moving on straight lines. The minimum number of UAVs required
to provide perpetual convoy protection in both cases are derived.
Sponsor
Date Issued
2010
Extent
Resource Type
Text
Resource Subtype
Article