Research Article
Optimal Multi-UAV Convoy Protection
@INPROCEEDINGS{10.4108/ICST.ROBOCOMM2009.5867, author={X. C. Ding and A. Rahmani and M. Egerstedt}, title={Optimal Multi-UAV Convoy Protection}, proceedings={2nd International ICST Conference on Robot Communication and Coordination}, proceedings_a={ROBOCOMM}, year={2009}, month={5}, keywords={}, doi={10.4108/ICST.ROBOCOMM2009.5867} }- X. C. Ding
A. Rahmani
M. Egerstedt
Year: 2009
Optimal Multi-UAV Convoy Protection
ROBOCOMM
ICST
DOI: 10.4108/ICST.ROBOCOMM2009.5867
Abstract
In this paper, we study time-optimal trajectories for Unmanned Aerial Vehicles (UAVs) to provide convoy protection to a group of stationary ground vehicles. The UAVs are modelled as Dubins vehicles flying at a constant altitude. Due to kinematic constraints of the UAVs, it is not possible for a single UAV to provide convoy protection indefinitely. In this paper, we derive time-optimal paths for a single UAV to provide continuous ground convoy protection for the longest possible time. Furthermore, this paper provides optimal trajectories for multiple UAVs to achieve uninterrupted convoy protection. The minimum number of UAVs required to achieve this task is determined.
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