Synchronous approaching is an important capability for autonomous cooperation of multiple unmanned aerial vehicles(UAVs).In this paper,a homotopy-based trajectory planning method is presented for the multi-UAV synchro...Synchronous approaching is an important capability for autonomous cooperation of multiple unmanned aerial vehicles(UAVs).In this paper,a homotopy-based trajectory planning method is presented for the multi-UAV synchronous approaching problem.A homotopic trajectory description is employed to construct the trajectory solution space of the UAVs.A novel onionlike homotopy structure is proposed to decouple the performance indexes of the trajectory planning problem.Local trajectory homotopy structures are designed based on the detouring model and the hovering model of UAV.The optimal trajectories for synchronous approaching are searched within the homotopy structures.Simulation results show how synchronous the UAVs are,by using the proposed homotopy-based trajectory planning method.展开更多
基金supported in part by the National Key R&D Program of China under Grant 2019YFB1312000in part by the National Natural Science Foundation of China under Grants 62106062,62033005,and 62173107+2 种基金in part by the Heilongjiang Provincial Natural Science Foundation of China under Grant YQ2021F010in part by the Young Elite Scientist Sponsorship Program by the China Association for Science and Technology under Grant YESS20210382and in part by the Sichuan Province Science and Technology Support Program under Grant 2021YFSY0026.
文摘Synchronous approaching is an important capability for autonomous cooperation of multiple unmanned aerial vehicles(UAVs).In this paper,a homotopy-based trajectory planning method is presented for the multi-UAV synchronous approaching problem.A homotopic trajectory description is employed to construct the trajectory solution space of the UAVs.A novel onionlike homotopy structure is proposed to decouple the performance indexes of the trajectory planning problem.Local trajectory homotopy structures are designed based on the detouring model and the hovering model of UAV.The optimal trajectories for synchronous approaching are searched within the homotopy structures.Simulation results show how synchronous the UAVs are,by using the proposed homotopy-based trajectory planning method.
