Distributed MPC-Based Path Planning for UAVs under Radio Communication Path Loss Constraints
نویسندگان
چکیده
منابع مشابه
Distributed MPC-Based Path Planning for UAVs under Radio Communication Path Loss Constraints
In this paper we address the Model Predictive Control (MPC)-based path planning problem for Unmanned Aerial Vehicles (UAVs). Our goal is to find trajectories that are safe with respect to grounding and collision, fuel efficient and satisfy criteria for communication such that the UAVs form a chain with a given radio communication capacity. A centralized MPC and a distributed MPC approach to sol...
متن کاملUAVs Trajectory Planning by Distributed MPC under Radio Communication Path Loss Constraints
In this paper, a distributed linear MPC approach to solve the trajectory planning problem for rotary-wing UAVs is proposed, where the objective of the UAV system is to form a communication network to multiple targets with given radio communication capacities. The approach explicitly incorporates constraints on radio communication path losses, computed by using SPLAT! that is able to take into a...
متن کاملPath Planning for UAVs Under Communication Constraints Using SPLAT! and MILP
We will in this paper address the problem of offline path planning for Unmanned Aerial Vehicles (UAVs). Our goal is to find paths that meet mission objectives, are safe with respect to collision and grounding, fuel efficient and satisfy criteria for communication. Due to the many nonconvex constraints of the problem, Mixed Integer Linear Programming (MILP) will be used in finding the path. Appr...
متن کاملDistributed Informative Path Planning under Temporal Logic Constraints
In this work, we present an algorithm for synthesizing distributed control policies for networks of mobile robots such that they gather the maximum amount of information about some a priori unknown feature of the environment, e.g. hydration levels of crops or a lost person adrift at sea. Natural motion and communication constraints such as “Avoid obstacles and periodically communicate with all ...
متن کاملPath Planning under Interface-Based Constraints for Assistive Robotics
We present a heuristic-based search method for path planning in shared human-robot control scenarios in which the robot should adhere to specific motion constraints imposed by the human’s control interface. This approach to path planning gives special consideration to kinematic and dynamic constraints introduced to reconcile discrepancies between the control space of the user and the control sp...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2012
ISSN: 1474-6670
DOI: 10.3182/20120403-3-de-3010.00031