Title:
Optimal Motion Primitives for Multi-UAV Convoy Protection
Optimal Motion Primitives for Multi-UAV Convoy Protection
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Author(s)
Rahmani, Amir R.
Ding, Xu Chu
Egerstedt, Magnus B.
Ding, Xu Chu
Egerstedt, Magnus B.
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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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