Multi-UAV convoy protection: An optimal approach to path planning and coordination

Xu Chu Ding, Amir R. Rahmani, Magnus Egerstedt

Research output: Contribution to journalArticle

85 Scopus citations

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 to provide convoy protection to stationary ground vehicles. Then, we propose a control strategy to provide convoy protection to ground vehicles moving in straight lines. The minimum number of UAVs required to provide perpetual convoy protection, in both cases, are derived.

Original languageEnglish (US)
Article number5427036
Pages (from-to)256-268
Number of pages13
JournalIEEE Transactions on Robotics
Volume26
Issue number2
DOIs
StatePublished - Apr 1 2010

Keywords

  • Multi-agent control and coordination
  • Optimal control
  • Path planning

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

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