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    Cooperative and Geometric Learning Algorithm (CGLA) for path planning of UAVs with limited information

    Access Status
    Fulltext not available
    Authors
    Zhang, B.
    Liu, Wan-Quan
    Mao, Z.
    Liu, J.
    Shen, L.
    Date
    2014
    Type
    Conference Paper
    
    Metadata
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    Abstract

    In this paper, we propose a new learning algorithm, named as the Cooperative and Geometric Learning Algorithm (CGLA), to solve problems of maneuverability, collision avoidance and information sharing in path planning for Unmanned Aerial Vehicles (UAVs). The contributions of CGLA are three folds: (1) CGLA is designed for path planning based on cooperation of multiple UAVs. Technically, CGLA exploits a new defined individual cost matrix, which leads to an efficient path planning algorithm for multiple UAVs. (2) The convergence of the proposed algorithm for calculating the cost matrix is proven theoretically, and the optimal path in terms of path length and risk measure from a starting point to a target point can be calculated in polynomial time. (3) In CGLA, the proposed individual weight matrix can be efficiently calculated and adaptively updated based on the geometric distance and risk information shared among UAVs. Finally, risk evaluation is introduced first time in this paper for UAV navigation and extensive computer simulation results validate the effectiveness and feasibility of CGLA for safe navigation of multiple UAVs.

    Citation
    Zhang, B. and Liu, W. and Mao, Z. and Liu, J. and Shen, L. 2014. Cooperative and Geometric Learning Algorithm (CGLA) for path planning of UAVs with limited information. Automatica. 50 (3): pp. 809-820.
    Source Title
    Automatica
    DOI
    10.1016/j.automatica.2013.12.035
    ISSN
    0005-1098
    School
    Department of Computing
    URI
    http://hdl.handle.net/20.500.11937/13674
    Collection
    • Curtin Research Publications

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