Cooperative Guidance and Collision Avoidance for Multiple Pursuers

被引：23

作者：

Jha, Bhargav ^{[1
]}

Tsalik, Ronny ^{[1
]}

Weiss, Martin ^{[1
]}

Shima, Tal ^{[1
]}

机构：

[1] Technion Israel Inst Technol, Fac Aerosp Engn, IL-3200003 Haifa, Israel

来源：

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS | 2019年 / 42卷 / 07期

关键词：

OBSTACLE AVOIDANCE;

D O I：

10.2514/1.G004139

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

This paper presents a cooperative guidance law for an n-on-n engagement scenario that ensures target interception and collision avoidance between the pursuers along with minimizing their team effort. The guidance law is derived using linear quadratic optimal control theory for a linearized engagement model. The pursuers cooperate with each other to accommodate differences in maneuver capabilities of different team members. A special case of 2-on-2 engagement is also analyzed, for which analytical closed-form formulas for the pursuer's guidance law are obtained. Various simulation results and experimental validation results, exemplifying the cooperation in different engagements, are also presented.

引用

页码：1506 / 1518

页数：13

共 50 条

[31] Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance
PAN Zini
CHEN Ben M.
Journal of Systems Science & Complexity, 2024, 37 (01) : 136 - 151
[32] Cooperative Collision Avoidance at Intersections: Algorithms and Experiments
Hafner, Michael R.
Cunningham, Drew
Caminiti, Lorenzo
Del Vecchio, Domitilla
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2013, 14 (03) : 1162 - 1175
[33] Survey on Cooperative Collision Avoidance Research for Ships
Chen, Linying
Fu, Yihan
Chen, Pengfei
Mou, Junmin
IEEE TRANSACTIONS ON TRANSPORTATION ELECTRIFICATION, 2023, 9 (02) : 3012 - 3025
[34] Cooperative Vehicle Merging with Guaranteed Collision Avoidance
Schwab, Alexander
Lunze, Jan
IFAC PAPERSONLINE, 2019, 52 (06): : 7 - 12
[35] Safety of cooperative collision avoidance for unmanned aircraft
Zeitlin, Andrew D.
McLaughlin, Michael P.
2006 IEEE/AIAA 25TH DIGITAL AVIONICS SYSTEMS CONFERENCE, VOLS 1- 3, 2006, : 868 - +
[36] Cellular Automata based Decentralized Cooperative Collision Avoidance Control for Multiple Mobile Robots
Rodriguez-Seda, Erick J.
Rico, Catalina K.
2019 IEEE INTERNATIONAL SYMPOSIUM ON MEASUREMENT AND CONTROL IN ROBOTICS (ISMCR): ROBOTICS FOR THE BENEFIT OF HUMANITY, 2019,
[37] Multiple UAV cooperative search under collision avoidance and limited range communication constraints
Beard, RW
McLain, TW
42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS, 2003, : 25 - 30
[38] Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance
Pan, Zini
Chen, Ben M.
JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY, 2024, 37 (01) : 136 - 151
[39] Cooperative collision avoidance between multiple robots based on Bernstein-Bezier curves
Skrjanc, Igor
Klancar, Gregor
MULTI-AGENT ROBOTIC SYSTEMS, PROCEEDINGS, 2007, : 34 - 43
[40] Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance
Zini Pan
Ben M. Chen
Journal of Systems Science and Complexity, 2024, 37 : 136 - 151

← 1 2 3 4 5 →