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首页> 外文会议>International Conference on Robot Intelligence Technology and Applications >UAV Path Planning for Local Defense Systems
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UAV Path Planning for Local Defense Systems

机译：局部防御系统的无人机路径规划

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This work presents an unmanned aerial vehicle (UAV) planning algorithm for local defense of a system from enemy UAVs that come to attack or reconnoiter the system. Planning with non-cooperative moving targets often leads to difficulties in utilizing the widely-used path planning algorithms, since their intention and path plans are not known. Furthermore, because a destination of our UAVs path plan can be changed over time, a fast path planning algorithm which can deal with various obstacles is needed. To handle these problems, two key methods are adopted in this work: First, an informative planning is used for predicting each path of enemy UAVs. Second, the iterative linear quadratic regulator algorithm (iLQR) is utilized to derive feasible paths in a mission environment. Utilizing the two methods, the system predicts paths of invading UAVs and allocates friend UAVs to dominate enemies. Finally, each path for an allocated task is computed via iLQR.
机译：这项工作介绍了一个无人驾驶飞行器（UAV）规划算法，用于从攻击或侦察系统的敌人无人机的局部防御系统。利用非合作移动目标的规划往往导致利用广泛使用的路径规划算法导致困难，因为他们的意图和路径计划是未知的。此外，由于我们的无人机路径计划的目的地可以随时间改变，所以需要一种可以处理各种障碍的快速路径规划算法。为了处理这些问题，在这项工作中采用了两种关键方法：首先，使用信息规划用于预测敌人无人机的每条路径。其次，利用迭代线性二次调节器算法（ILQR）来导出任务环境中可行的路径。利用这两种方法，系统预测入侵无人机的路径，并将朋友无人机分配给主导敌人。最后，通过ILQR计算分配任务的每个路径。

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