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Cooperative Trajectory Planning for Multiple UAVs Using Distributed Receding Horizon Control and Inverse Dynamics Optimization Method

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Information Technology and Intelligent Transportation Systems

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 454))

Abstract

This paper studies the problem of generating obstacle avoidance trajectories through complex 3-D environments on-board for a group of non homonymic Unmanned Aerial Vehicles (UAVs). First, the collision-free multi-vehicle cooperative trajectory planning problem is mathematically formulated as a decentralized receding horizon optimal control problem (DRH-OCP). Next, a real-time trajectory planning framework based on a decentralized planning scheme which only uses local information, and an inverse dynamics direct method which has high computational efficiency and good convergence properties, is designed to solve the DRH-OCP. Finally, the simulation results demonstrate that the proposed planning strategies successfully generates the trajectories that satisfy the given mission objectives and requirements.

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Author information

Authors and Affiliations

  1. College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, 410073, People’s Republic of China

    Yu Zhang, Chao Wang, Xueqiang Gu & Jing Chen

Authors
  1. Yu Zhang
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  2. Chao Wang
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  3. Xueqiang Gu
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  4. Jing Chen
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Corresponding author

Correspondence to Yu Zhang .

Editor information

Editors and Affiliations

  1. Department of Automation and Applied Informatics, Aurel Vlaicu University of Arad Faculty of Engineering, Arad, Romania

    Valentina Emilia Balas

  2. Bournemouth University, Poole, United Kingdom

    Lakhmi C. Jain

  3. School of Information Engineering, Chang'an University, Xi'an, China

    Xiangmo Zhao

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© 2017 Springer International Publishing Switzerland

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Zhang, Y., Wang, C., Gu, X., Chen, J. (2017). Cooperative Trajectory Planning for Multiple UAVs Using Distributed Receding Horizon Control and Inverse Dynamics Optimization Method. In: Balas, V., Jain, L., Zhao, X. (eds) Information Technology and Intelligent Transportation Systems. Advances in Intelligent Systems and Computing, vol 454. Springer, Cham. https://doi.org/10.1007/978-3-319-38789-5_14

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  • DOI: https://doi.org/10.1007/978-3-319-38789-5_14

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-38787-1

  • Online ISBN: 978-3-319-38789-5

  • eBook Packages: EngineeringEngineering (R0)

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