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Cooperative planning method for swarm UAVs based on hierarchical strategy

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3 Author(s)
Dong Shiyou ; College of Astronautics Northwestern Polytechnical University, Xi'an, China ; Zhu Xiaoping ; Long Guoqing

In this paper, the problem of controlling swarm UAVs is studied by considering a hierarchical strategy based on the local interactions. First swarm as a whole plans its own initial path using Voronoi graph and Dijkstra algorithm. Second swarm UAVs combine the low-level behaviors to yield swarm behaviors. The results achieved for such a strategy are verified by computer simulations.

Published in:

System Science, Engineering Design and Manufacturing Informatization (ICSEM), 2012 3rd International Conference on  (Volume:2 )

Date of Conference:

20-21 Oct. 2012