基于蜂群的无人机三维探索优先级

Abdullah Al Redwan Newaz, Geunho Lee, F. Pratama, N. Chong
{"title":"基于蜂群的无人机三维探索优先级","authors":"Abdullah Al Redwan Newaz, Geunho Lee, F. Pratama, N. Chong","doi":"10.1109/ICMA.2013.6618142","DOIUrl":null,"url":null,"abstract":"This paper presents a 3D flocking algorithm for a team of unmanned aerial vehicles (UAVs), where each member is equipped with limited range sensors and computational resources. A minimal leader-follower communication scheme is proposed for maneuvering huge swarm of UAVs. The proposed triangular formation compacts the overall group size. Even though UAVs are considered for tactical, remote monitoring, and surveillance purposes in both indoor and outdoor environments, it is very difficult to achieve autonomous aerial flocking in unknown cluttered environments. Specifically, greater attention is placed to reduce computational complexity for on-board implementation. We demonstrate the efficiency of our algorithm in a real world scenario with the V-REP simulator employing a group of five UAVs.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"3D exploration priority based flocking of UAVs\",\"authors\":\"Abdullah Al Redwan Newaz, Geunho Lee, F. Pratama, N. Chong\",\"doi\":\"10.1109/ICMA.2013.6618142\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a 3D flocking algorithm for a team of unmanned aerial vehicles (UAVs), where each member is equipped with limited range sensors and computational resources. A minimal leader-follower communication scheme is proposed for maneuvering huge swarm of UAVs. The proposed triangular formation compacts the overall group size. Even though UAVs are considered for tactical, remote monitoring, and surveillance purposes in both indoor and outdoor environments, it is very difficult to achieve autonomous aerial flocking in unknown cluttered environments. Specifically, greater attention is placed to reduce computational complexity for on-board implementation. We demonstrate the efficiency of our algorithm in a real world scenario with the V-REP simulator employing a group of five UAVs.\",\"PeriodicalId\":335884,\"journal\":{\"name\":\"2013 IEEE International Conference on Mechatronics and Automation\",\"volume\":\"32 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-10-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE International Conference on Mechatronics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICMA.2013.6618142\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Mechatronics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMA.2013.6618142","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1

摘要

本文提出了一种无人机编队的三维集群算法,其中每个成员都配备了有限距离的传感器和计算资源。针对大型无人机群机动问题,提出了一种最小的leader-follower通信方案。所提出的三角形队形压缩了整个群体的规模。尽管无人机被认为是用于战术、远程监控和室内外环境的监视目的,但在未知的混乱环境中实现自主空中蜂群是非常困难的。具体来说,更多的注意力放在降低机载实现的计算复杂性上。我们在使用五架无人机的V-REP模拟器的真实场景中展示了我们算法的效率。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
3D exploration priority based flocking of UAVs
This paper presents a 3D flocking algorithm for a team of unmanned aerial vehicles (UAVs), where each member is equipped with limited range sensors and computational resources. A minimal leader-follower communication scheme is proposed for maneuvering huge swarm of UAVs. The proposed triangular formation compacts the overall group size. Even though UAVs are considered for tactical, remote monitoring, and surveillance purposes in both indoor and outdoor environments, it is very difficult to achieve autonomous aerial flocking in unknown cluttered environments. Specifically, greater attention is placed to reduce computational complexity for on-board implementation. We demonstrate the efficiency of our algorithm in a real world scenario with the V-REP simulator employing a group of five UAVs.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信