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Cooperative Solution of Multi-UAV Rendezvous Problem with Network Restrictions

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  • Qingjie Zhang
  • Jianwu Tao
  • Fei Yu
  • Yingzhen Li
  • Hongchang Sun
  • Wei Xu

Abstract

By considering the complex networks, the cooperative game based optimal consensus (CGOC) algorithm is proposed to solve the multi-UAV rendezvous problem in the mission area. Firstly, the mathematical description of the rendezvous problem is established, and the solving framework is provided based on the coordination variables and coordination function. It can decrease the transmission of the redundant information and reduce the influence of the limited network on the task. Secondly, the CGOC algorithm is presented for the UAVs in distributed cooperative manner, which can minimize the overall cost of the multi-UAV system. The CGOC control problem and the corresponding solving protocol are given by using the cooperative game theory and sensitivity parameter method. Then, the CGOC method of multi-UAV rendezvous problem is proposed, which focuses on the trajectory control of the platform rather than the path planning. Simulation results are given to demonstrate the effectiveness of the proposed CGOC method under complex network conditions and the benefit on the overall optimality and dynamic response.

Suggested Citation

  • Qingjie Zhang & Jianwu Tao & Fei Yu & Yingzhen Li & Hongchang Sun & Wei Xu, 2015. "Cooperative Solution of Multi-UAV Rendezvous Problem with Network Restrictions," Mathematical Problems in Engineering, Hindawi, vol. 2015, pages 1-14, June.
    • Handle: RePEc:hin:jnlmpe:878536
    DOI: 10.1155/2015/878536
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