Path Planning of UAV Based on Voronoi Diagram and DPSO

Abstract This paper presents a solution strategy for achieving cooperative timing among teams of vehicles. The initial paths are constructed based on Voronoi diagram and based on that, the smoothing paths are designed for the Waypoint Path Planner (WPP). Then it considers the cooperative timing problem and proposes a particle swam optimization algorithm for simultaneous attack. Simulation results show that the approach is of high efficiency in multi-UAVs cooperative timing problem.

[1]  Raja Sengupta,et al.  A Resource Allocation Algorithm for Multivehicle Systems With Nonholonomic Constraints , 2007, IEEE Transactions on Automation Science and Engineering.

[2]  Sajal K. Das,et al.  A Voronoi Diagram Approach for Mobile Element Scheduling in Sparse Sensor Networks , 2008, 2008 Second International Conference on Future Generation Communication and Networking.

[3]  Timothy W. McLain,et al.  Coordinated target assignment and intercept for unmanned air vehicles , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[4]  P. B. Sujit,et al.  Multiple UAV Task Allocation Using Particle Swarm Optimization , 2008 .

[5]  Timothy W. McLain,et al.  Experiments in Cooperative Timing for Miniature Air Vehicles , 2007, J. Aerosp. Comput. Inf. Commun..

[6]  Eliot Winer,et al.  Path Planning of Unmanned Aerial Vehicles using B-Splines and Particle Swarm Optimization , 2009, J. Aerosp. Comput. Inf. Commun..