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A Cooperative Route Planning Method for Multi-UAVs Based-on the Fusion of Artificial Potential Field and B-spline Interpolation

机译：基于人工势场融合的多无人机与B样条插值的合作路线规划方法

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摘要

This paper deals with the route planning problem for multi-UAVs formation. It provides a method of improved artificial potential field by introducing a longitudinal random factor and B-spline interpolation. The longitudinal random factor is used to solve the problem of falling into local minimum, when the B-spline interpolation is used to smooth the planned route. The simulated results show that the proposed method can solve the route planning problem of multi-UAVs.

机译：本文涉及多无人机地层的路线规划问题。通过引入纵向随机因子和B样条插值来提供一种改进人工势领域的方法。当使用B样条插值来平滑计划的路线时，纵向随机因子用于解决落入局部最小值的问题。模拟结果表明，该方法可以解决多无人机的路线规划问题。

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来源
《Chinese Control Conference》|2018年|6376-7170p|共6页
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作者
Wenbin Bai; Xiande Wu; Yaen Xie; Yu Wang; Han Zhao; Kefan Chen; Yong Li; Yong Hao;
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原文格式 PDF
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中图分类 TP273-53;
关键词
Route planning; Multi-UAVs; Artificial potential field; Longitudinal random factor; B-spline interpolation;

机译：路线规划;多无人机;人工势域;纵向随机因子;B样条插值;

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3. Research on the Route Planning Algorithm of UAV Group Reconnaissance Coverage Based on Improved Artificial Potential Field Method [J] . 达迪房 Operations Research and Fuzziology . 2020,第3期

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4. A Cooperative Route Planning Method for Multi-UAVs Based-on the Fusion of Artificial Potential Field and B-spline Interpolation [C] . Wenbin Bai, Xiande Wu, Yaen Xie, Chinese Control Conference . 2018

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A Cooperative Route Planning Method for Multi-UAVs Based-on the Fusion of Artificial Potential Field and B-spline Interpolation

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