基于分层策略的群无人机协同规划方法

2012 3rd International Conference on System Science, Engineering Design and Manufacturing Informatization Pub Date : 2012-11-12 DOI:10.1109/ICSSEM.2012.6340870

Dong Shiyou, Zhuang Xiaoping, Long Guoqing

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引用次数: 6

摘要

本文研究了基于局部交互的分层控制策略对群无人机的控制问题。首先，群体作为一个整体，利用Voronoi图和Dijkstra算法规划自己的初始路径。第二，群无人机结合低阶行为形成群行为。计算机仿真结果验证了该策略的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Cooperative planning method for swarm UAVs based on hierarchical strategy

In this paper, the problem of controlling swarm UAVs is studied by considering a hierarchical strategy based on the local interactions. First swarm as a whole plans its own initial path using Voronoi graph and Dijkstra algorithm. Second swarm UAVs combine the low-level behaviors to yield swarm behaviors. The results achieved for such a strategy are verified by computer simulations.

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2012 3rd International Conference on System Science, Engineering Design and Manufacturing Informatization

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