Real-Time Cooperative Trajectory Planning Using Differential Flatness Approach and B-Splines

Xue Qiang Gu; Yu Zhang; Jing Chen; Lin Cheng Shen

doi:10.4028/www.scientific.net/AMM.333-335.1338

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 333-335Real-Time Cooperative Trajectory Planning Using...

Real-Time Cooperative Trajectory Planning Using Differential Flatness Approach and B-Splines

Abstract:

This paper proposed a cooperative receding horizon optimal control framework, based on differential flatness and B-splines, which was used to solve the real-time cooperative trajectory planning for multi-UCAV performing cooperative air-to-ground target attack missions. The planning problem was formulated as a cooperative receding horizon optimal control problem (CRHC-OCP), and then the differential flatness and B-splines were introduced to lower the dimension of the planning space and parameterize the spatial trajectories. Moreover, for the dynamic and uncertainty of the battlefield environment, the cooperative receding horizon control was introduced. Finally, the proposed approach is demonstrated, and the results show that this approach is feasible and effective.

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Periodical:

Applied Mechanics and Materials (Volumes 333-335)

Pages:

1338-1343

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.333-335.1338

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Online since:

July 2013

Authors:

Xue Qiang Gu, Yu Zhang, Jing Chen, Lin Cheng Shen

Keywords:

B-Spline, Differential Flatness Approach, Real-Time Cooperative Trajectory Planning, Receding Horizon Control

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