文献类型：期刊文献

英文题名：Multi-UAV trajectory planning using gradient -based sequence minimal optimization

作者：Xia, Qiaoyang[1];Liu, Shuang[1];Guo, Mingyang[1];Wang, Hui[1];Zhou, Qigao[1];Zhang, Xiancheng[1]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai 200237, Peoples R China

年份：2021

卷号：137

外文期刊名：ROBOTICS AND AUTONOMOUS SYSTEMS

收录：;EI(收录号：20210309774747);WOS:【SCI-EXPANDED(收录号:WOS:000626148800001)】；

基金：This work is supported by the National Natural Science Foundation of China (Grant Nos. 51975214).

语种：英文

外文关键词：Multi-UAV trajectory planning; Time segmentation; Sequential minimal optimization; Decoupled mutual collision

摘要：Multi-UAV system is widely used in surveillance, search and rescue, and industrial inspection. MultiUAV trajectory planning is crucial for the multi-UAV system, but multi-UAV trajectory planning often needs to consider many constraints, such as trajectory smoothness, obstacle collisions, mutual collisions, dynamic limits, time-consuming, and trajectory length. It is a challenge to balance these constraints while considering computational performance. This paper proposes a novel multi-UAV trajectory planning method to solve the challenge. This method uses time segmentation instead of traditional waypoint segmentation to establish a trajectory optimization model based on the unified time interval, which simplifies the calculation of cost functions. At the same time, virtual segments are introduced to adapt to the trajectory length of different UAVs to reduce the total arrival time. Nonlinear constraints are cast into cost functions and a gradient-based sequential minimal optimization (GB-SMO) algorithm is proposed to minimize the cost function, which decouples the constraint of the mutual collisions in each iteration to save the planning time. Experiments are performed on a multiUAV system to prove the effectiveness of the proposed method. Results show that this method has good performance in obstacle-rich environments and is efficient for a large number of UAVs. (c) 2021 Elsevier B.V. All rights reserved.