Multi-UAV convoy protection: an optimal approach to path planning and coordination

Authors:
Xu Chu Ding;Amir R. Rahmani;Magnus Egerstedt
Affiliations:
Department of Mechanical Engineering, Boston University, Boston, MA and School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA;School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA;School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA
Venue:
IEEE Transactions on Robotics
Year:
2010

Citing 3
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Abstract

In this paper, we study the problem of controlling a group of unmanned aerial vehicles (UAVs) to provide convoy protection to a group of ground vehicles. The UAVs are modeled as Dubins vehicles flying at a constant altitude with bounded turning radius.We first present time-optimal paths to provide convoy protection to stationary ground vehicles. Then, we propose a control strategy to provide convoy protection to ground vehicles moving in straight lines. The minimum number of UAVs required to provide perpetual convoy protection, in both cases, are derived.