A Hierarchical and Prioritized Framework in Coordinated Maneuver of Multiple UAVs Based on Guidance Regulator

Haghighi, Hassan; Sadati, Seyed Hossein; Karimi, Jalal

doi:10.5028/jatm.v11.999

Cited by 7 publications

(5 citation statements)

References 12 publications

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“…The path planner strategy, which is proposea in this paper, has a hierarchical structure accoraing to our previous researches [9,20]. The first step of path planning is to aiscretize the environment space into a representation that will be meaningful to the path planning algorithm.…”

Section: Mathematical Representationmentioning

confidence: 98%

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Multi-Objective Cooperated Path Planning of Multiple Unmanned Aerial Vehicles Based on Revisit Time

Haghighi

Asadi

Delahaye

2021

Journal of Aerospace Information Systems

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This paper investigates multi-objective optimization of coordinated patrolling flight of multiple unmanned aerial vehicles in the vicinity of terrain, while respecting their performance parameters. A new efficient modified A-star (A*) algorithm with a novel defined criterion known as individual revisit time cell value is introduced and extended to the whole area of the 3D mountainous environment. As a contribution to solving trade-offs in the optimization problem, revisit time is conjugated with other contrary costs effective in flight planning through Pareto analysis. By introducing the revisit time and applying a specific setup to mitigate computational complexity, the proposed algorithm efficiently revisits the desired zones, which are more important to be revisited during the patrolling mission. The results of the introduced modified A* algorithm are compared in various scenarios with two different algorithms including a complete and optimal algorithm known as Dijkstra, and an evolutionary algorithm known as the genetic algorithm. Simulation results demonstrate that the proposed algorithm generates faster and more efficient trajectories in complex multiagent scenarios due to the introduced cell selection method and dynamic-based simplifications applied in this research.

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Section: Mathematical Representationmentioning

confidence: 98%

“…Path planning is a key element of the UAVs autonomous control framework [20]. In most cases in the literature, a deterministic search algorithm is implemented to find the shortest path, which is accounted as the best-desired path.…”

Section: Introductionmentioning

confidence: 99%

Multi-Objective Cooperated Path Planning of Multiple Unmanned Aerial Vehicles Based on Revisit Time

Haghighi

Asadi

Delahaye

2021

Journal of Aerospace Information Systems

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“…A hierarchical analogous control architecture with different layers of strategic decision making, tactical planning, and reconfigurable flight control is presented in Refs. [14,15]. Alternative offline route responds to anomalous events [16], dynamic programming [17,18], flight plans from a database of trim conditions and maneuvers [4,19], and control strategy are some innovative model-based approaches to enhance autonomy in post-failure flight conditions [20].…”

Section: Introductionmentioning

confidence: 99%

Performance-based emergency landing trajectory planning applying meta-heuristic and Dubins paths

Haghighi

Delahaye

Asadi

2022

Applied Soft Computing

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“…Namely, the so-called containment control implies that the convex hull composed of multiple leaders will include all followers through a suitably designed control protocol. From then on, this topic is widely investigated both in theoretical research (Liu et al, 2012a, 2014a; Lou and Hong, 2012; Lü et al, 2020; Zheng and Wang, 2014) and practical applications (Dong, 2015; Haghighi et al, 2019; Wang et al, 2020b; Zhang et al, 2014).…”

Section: Introductionmentioning

confidence: 99%

Bipartite containment control of multi-agent systems with multiple leader groups

Yang

2022

Transactions of the Institute of Measurement and Control

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This article mainly considers the bipartite containment control problem of multi-agent systems with first- and second-order dynamics, where the antagonistic networks and multiple leader groups are considered. Specially, under the antagonistic networks, the multiple leader groups constitute two opposite convex hulls. One is a real convex hull composed of the real leader groups and the other is a virtual convex hull composed of opposite virtual leaders. For the first-order multi-agent systems with multiple leader groups, the followers move into the stationary real or virtual convex hull. While for the second-order multi-agent systems, the followers finally move into the dynamic real or virtual convex hull. In both cases, we obtain the sufficient conditions on achieving bipartite containment control. In the end, the effectiveness is verified by some simulations.

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A Hierarchical and Prioritized Framework in Coordinated Maneuver of Multiple UAVs Based on Guidance Regulator

Cited by 7 publications

References 12 publications

Multi-Objective Cooperated Path Planning of Multiple Unmanned Aerial Vehicles Based on Revisit Time

Multi-Objective Cooperated Path Planning of Multiple Unmanned Aerial Vehicles Based on Revisit Time

Performance-based emergency landing trajectory planning applying meta-heuristic and Dubins paths

Bipartite containment control of multi-agent systems with multiple leader groups

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