Cooperative path planning of unmanned aerial vehicles

An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure a UAV completes its mission efficiently, safely, and successfully. INDICE: Preface Acknowledgements 1 Introduction 1.1 Path Planning Formulation 1.2 Path Planning Constraints 1.3 Cooperative Path Planning and Mission Planning 1.4 Path Planning - An Overview 1.5 The Road Map Method 1.6 Probabilistic Methods 1.7 Potential Field 1.8 Cell Decomposition 1.9 Optimal Control 1.10Optimisation Techniques 1.11 Trajectories for path planning 1.12 Outline of the book References 2 Path planning in Two Dimensions 2.1 Dubins Paths 25 2.2 Designing Dubins Paths using Analytical Geometry 2.3 Existence of Dubins Paths 2.4 Length of Dubins path 2.5 Design of Dubins Paths using principles of Differential Geometry 2.6 Paths of Continuous Curvature 2.7 Producing Flyable Clothoid Paths 2.8 Producing Flyable Pythagorean Hodograph Paths (2D) References 3 Path Planning in Three Dimensions 3.1 Dubins Paths in Three Dimensions using Differential Geometry 3.2 Path Length - Dubins 3D 3.3 Pythagorean Hodograph Paths-3D 3.4 Design of Flyable Paths using PH curves References 4 Collision Avoidance 4.1 Research into Obstacle Avoidance 4.2 Obstacle Avoidance for Mapped Obstacles 4.3 Obstacle Avoidance of Unmapped Static Obstacles 4.4 Algorithmic Implementation References 5 Path Following Guidance 5.1 Path following the Dubins path 5.2 Linear Guidance Algorithm 5.3 Nonlinear Dynamic Inversion Guidance 5.4 Dynamic Obstacle Avoidance Guidance References 6 Path planning for Multiple UAVs 6.1 Problem formulation 6.2 Simultaneous Arrival 6.3 Phase I: ProducingFlyable Paths 6.4 Phase II: Producing Feasible Paths 6.5 Phase III: Equalising Path Lengths 6.6 Multiple Path Algorithm 6.7 Algorithm Application for Multiple UAVs 6.8 2D Pythagorean Hodographs Paths 6.9 3D Dubins Paths 6.10 3D Pythagorean Hodograph Paths References A Differential geometry A.1 Frenet Serret equations A.2 Importance of Curvature and Torsion A.3 Motion and Frames References B Pythagorean Hodograph 2.1 Pythagorean Hodograph References

• ISBN: 978-0-470-74129-0
• Editorial: John Wiley & Sons
• Encuadernacion: Cartoné
• Páginas: 216
• Fecha Publicación: 03/12/2010
• Nº Volúmenes: 1
• Idioma: Inglés