Triple-stage path prediction algorithm for real-time mission planning of multi-UAV

Xiaolei Sun; Yanfang Liu; Weiran Yao; Naiming Qi

doi:10.1049/el.2015.1244

Triple-stage path prediction algorithm for real-time mission planning of multi-UAV

Xiaolei Sun
, Yanfang Liu^*
, Weiran Yao
, Naiming Qi

^*Corresponding author for this work

School of Astronautics, Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

32 Scopus citations

Abstract

A triple-stage path prediction algorithm is proposed for real-time mission planning. In every planning horizon, each unmanned aerial vehicle (UAV) utilises the A^∗algorithm first to estimate the path to every task. Then, the estimated result serve as the input of the cluster method to generate the quasi-optimal task assignment. The shortest path to the assigned task is further calculated using the A^∗algorithm. Finally, it is smoothed to obtain the flyable reference path to guide the UAV by using the cubic B-spline curve. Numerical experiments demonstrate the effectiveness and efficiency of the proposed algorithm.

Original language	English
Pages (from-to)	1490-1492
Number of pages	3
Journal	Electronics Letters
Volume	51
Issue number	19
DOIs	https://doi.org/10.1049/el.2015.1244
State	Published - 17 Sep 2015
Externally published	Yes

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10.1049/el.2015.1244

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title = "Triple-stage path prediction algorithm for real-time mission planning of multi-UAV",

abstract = "A triple-stage path prediction algorithm is proposed for real-time mission planning. In every planning horizon, each unmanned aerial vehicle (UAV) utilises the A∗algorithm first to estimate the path to every task. Then, the estimated result serve as the input of the cluster method to generate the quasi-optimal task assignment. The shortest path to the assigned task is further calculated using the A∗algorithm. Finally, it is smoothed to obtain the flyable reference path to guide the UAV by using the cubic B-spline curve. Numerical experiments demonstrate the effectiveness and efficiency of the proposed algorithm.",

author = "Xiaolei Sun and Yanfang Liu and Weiran Yao and Naiming Qi",

note = "Publisher Copyright: {\textcopyright} The Institution of Engineering and Technology 2015.",

year = "2015",

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doi = "10.1049/el.2015.1244",

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AU - Sun, Xiaolei

AU - Liu, Yanfang

AU - Yao, Weiran

AU - Qi, Naiming

PY - 2015/9/17

Y1 - 2015/9/17

N2 - A triple-stage path prediction algorithm is proposed for real-time mission planning. In every planning horizon, each unmanned aerial vehicle (UAV) utilises the A∗algorithm first to estimate the path to every task. Then, the estimated result serve as the input of the cluster method to generate the quasi-optimal task assignment. The shortest path to the assigned task is further calculated using the A∗algorithm. Finally, it is smoothed to obtain the flyable reference path to guide the UAV by using the cubic B-spline curve. Numerical experiments demonstrate the effectiveness and efficiency of the proposed algorithm.

AB - A triple-stage path prediction algorithm is proposed for real-time mission planning. In every planning horizon, each unmanned aerial vehicle (UAV) utilises the A∗algorithm first to estimate the path to every task. Then, the estimated result serve as the input of the cluster method to generate the quasi-optimal task assignment. The shortest path to the assigned task is further calculated using the A∗algorithm. Finally, it is smoothed to obtain the flyable reference path to guide the UAV by using the cubic B-spline curve. Numerical experiments demonstrate the effectiveness and efficiency of the proposed algorithm.

UR - https://www.scopus.com/pages/publications/84942092754

U2 - 10.1049/el.2015.1244

DO - 10.1049/el.2015.1244

M3 - 文章

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SP - 1490

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JO - Electronics Letters

JF - Electronics Letters

IS - 19

ER -

Triple-stage path prediction algorithm for real-time mission planning of multi-UAV

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