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Precedence-constrained path planning of messenger UAV for air-ground coordination
YulongDING,BinXIN,JieCHEN
0
(School of Automation, Beijing Institute of Technology, Beijing 100081, China; Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, China)
摘要:
This paper addresses an unmanned aerial vehicle (UAV) path planning problem for a team of cooperating heterogeneous vehicles composed of one UAV and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators and scattered in a large area. To achieve multi-UGV communication and collaboration, the UAV serves as a messenger to fly over all task points to collect the task information and then flies all UGVs to transmit the information about tasks and UGVs. The path planning of messenger UAV is formulated as a precedence-constrained dynamic Dubins traveling salesman problem with neighborhood (PDDTSPN). The goal of this problem is to find the shortest route enabling the UAV to fly over all task points and deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is proposed to sequentially and rapidly determine the access sequence in which the UAV visits task points and UGVs as well as the access location of UAV in the communication neighborhood of each task point and each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on randomly generated instances. The computational results on both small and large instances demonstrate that the proposed approach can generate high-quality solutions in a reasonable time as compared with two other heuristic algorithms.
关键词:  Air-ground coordination, curvature-constrained path planning, precedence constraints, Dubins traveling salesman problem
DOI:
基金项目:This work was supported in part by the National Outstanding Youth Talents Support Program (No. 61822304), in part by the National Natural Science Foundation of China (No. 61673058), in part by NSFC-Zhejiang Joint Fund for the Integration of Industrialization and Informatization (No. U1609214), in part by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China (No. 61621063), in part by the Projects of Major International (Regional) Joint Research Program NSFC (No. 61720106011), and in part by International Graduate Exchange Program of Beijing Institute of Technology.
Precedence-constrained path planning of messenger UAV for air-ground coordination
Yulong DING,Bin XIN,Jie CHEN
(School of Automation, Beijing Institute of Technology, Beijing 100081, China; Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, China;School of Automation, Beijing Institute of Technology, Beijing 100081, China; Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, China; Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China)
Abstract:
This paper addresses an unmanned aerial vehicle (UAV) path planning problem for a team of cooperating heterogeneous vehicles composed of one UAV and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators and scattered in a large area. To achieve multi-UGV communication and collaboration, the UAV serves as a messenger to fly over all task points to collect the task information and then flies all UGVs to transmit the information about tasks and UGVs. The path planning of messenger UAV is formulated as a precedence-constrained dynamic Dubins traveling salesman problem with neighborhood (PDDTSPN). The goal of this problem is to find the shortest route enabling the UAV to fly over all task points and deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is proposed to sequentially and rapidly determine the access sequence in which the UAV visits task points and UGVs as well as the access location of UAV in the communication neighborhood of each task point and each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on randomly generated instances. The computational results on both small and large instances demonstrate that the proposed approach can generate high-quality solutions in a reasonable time as compared with two other heuristic algorithms.
Key words:  Air-ground coordination, curvature-constrained path planning, precedence constraints, Dubins traveling salesman problem