Real-time path planning for multi-UAVs with share of threats information

Limeng Zhao; Zheng Zheng; Wei Liu; Kai Yuan Cai; Shumin Lin

doi:10.1109/ICIEA.2011.5975799

Real-time path planning for multi-UAVs with share of threats information

Limeng Zhao^*
, Zheng Zheng
, Wei Liu
, Kai Yuan Cai
, Shumin Lin

^*Corresponding author for this work

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

In this paper, a real-time path planning approach in consideration of threats information sharing is proposed for multiple unmanned aerial vehicles (UAVs) with predetermined rendezvous in hostile environment. This approach obtains turn angles in two-dimensional (2-D) rough terrain by fuzzy reasoning with feedback on rule base. Virtual subgoal is defined and applied to make full use of the threats information and avoid iterations of previous trajectory. The path planning is classified into three behaviors: path-searching (PS) behavior in the regional range, goal-seeking (GS) and virtual goal seeking (VGS) behavior in the global range. The UAVs detect threats information in real-time and share the information with each other. Target planner coordinates the GS and VGS according to all the known threats information and UAV's real-time position. Finally, simulations prove that the proposed approach gives good and satisfactory results.

Original language	English
Title of host publication	Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
Pages	1359-1364
Number of pages	6
DOIs	https://doi.org/10.1109/ICIEA.2011.5975799
State	Published - 2011
Event	2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011 - Beijing, China Duration: 21 Jun 2011 → 23 Jun 2011

Publication series

Name	Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011

Conference

Conference	2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
Country/Territory	China
City	Beijing
Period	21/06/11 → 23/06/11

Keywords

Fuzzy Reasoning
Multi-UAVs
Virtual Goal
information share

Access to Document

10.1109/ICIEA.2011.5975799

Cite this

Zhao, L., Zheng, Z., Liu, W., Cai, K. Y., & Lin, S. (2011). Real-time path planning for multi-UAVs with share of threats information. In Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011 (pp. 1359-1364). Article 5975799 (Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011). https://doi.org/10.1109/ICIEA.2011.5975799

@inproceedings{3ca2a6776fa44afcb50441003d2534e2,

title = "Real-time path planning for multi-UAVs with share of threats information",

abstract = "In this paper, a real-time path planning approach in consideration of threats information sharing is proposed for multiple unmanned aerial vehicles (UAVs) with predetermined rendezvous in hostile environment. This approach obtains turn angles in two-dimensional (2-D) rough terrain by fuzzy reasoning with feedback on rule base. Virtual subgoal is defined and applied to make full use of the threats information and avoid iterations of previous trajectory. The path planning is classified into three behaviors: path-searching (PS) behavior in the regional range, goal-seeking (GS) and virtual goal seeking (VGS) behavior in the global range. The UAVs detect threats information in real-time and share the information with each other. Target planner coordinates the GS and VGS according to all the known threats information and UAV's real-time position. Finally, simulations prove that the proposed approach gives good and satisfactory results.",

keywords = "Fuzzy Reasoning, Multi-UAVs, Virtual Goal, information share",

author = "Limeng Zhao and Zheng Zheng and Wei Liu and Cai, \{Kai Yuan\} and Shumin Lin",

year = "2011",

doi = "10.1109/ICIEA.2011.5975799",

language = "英语",

isbn = "9781424487554",

series = "Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011",

pages = "1359--1364",

booktitle = "Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011",

note = "2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011 ; Conference date: 21-06-2011 Through 23-06-2011",

}

Zhao, L, Zheng, Z, Liu, W, Cai, KY & Lin, S 2011, Real-time path planning for multi-UAVs with share of threats information. in Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011., 5975799, Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011, pp. 1359-1364, 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011, Beijing, China, 21/06/11. https://doi.org/10.1109/ICIEA.2011.5975799

Real-time path planning for multi-UAVs with share of threats information. / Zhao, Limeng; Zheng, Zheng; Liu, Wei et al.
Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011. 2011. p. 1359-1364 5975799 (Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Liu, Wei

AU - Cai, Kai Yuan

AU - Lin, Shumin

PY - 2011

Y1 - 2011

N2 - In this paper, a real-time path planning approach in consideration of threats information sharing is proposed for multiple unmanned aerial vehicles (UAVs) with predetermined rendezvous in hostile environment. This approach obtains turn angles in two-dimensional (2-D) rough terrain by fuzzy reasoning with feedback on rule base. Virtual subgoal is defined and applied to make full use of the threats information and avoid iterations of previous trajectory. The path planning is classified into three behaviors: path-searching (PS) behavior in the regional range, goal-seeking (GS) and virtual goal seeking (VGS) behavior in the global range. The UAVs detect threats information in real-time and share the information with each other. Target planner coordinates the GS and VGS according to all the known threats information and UAV's real-time position. Finally, simulations prove that the proposed approach gives good and satisfactory results.

AB - In this paper, a real-time path planning approach in consideration of threats information sharing is proposed for multiple unmanned aerial vehicles (UAVs) with predetermined rendezvous in hostile environment. This approach obtains turn angles in two-dimensional (2-D) rough terrain by fuzzy reasoning with feedback on rule base. Virtual subgoal is defined and applied to make full use of the threats information and avoid iterations of previous trajectory. The path planning is classified into three behaviors: path-searching (PS) behavior in the regional range, goal-seeking (GS) and virtual goal seeking (VGS) behavior in the global range. The UAVs detect threats information in real-time and share the information with each other. Target planner coordinates the GS and VGS according to all the known threats information and UAV's real-time position. Finally, simulations prove that the proposed approach gives good and satisfactory results.

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KW - Virtual Goal

KW - information share

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BT - Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011

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ER -

Zhao L, Zheng Z, Liu W, Cai KY, Lin S. Real-time path planning for multi-UAVs with share of threats information. In Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011. 2011. p. 1359-1364. 5975799. (Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011). doi: 10.1109/ICIEA.2011.5975799

Real-time path planning for multi-UAVs with share of threats information

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