Research on Scheduling Problem for Persistent Servive of Multiple Unmanned Aerial Vehicles
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- 英文论文题名：Research on Scheduling Problem for Persistent Servive of Multiple Unmanned Aerial Vehicles
- 论文作者：Song Zhiqiang ; Fang wu
- 英文论文作者：Song Zhiqiang ; Fang wu ; Institute of Electrical and Information Technology ; Suzhou Institute of Trade and Commerce
- 年：2017
- 作者机构：Institute of Electrical and Information Technology,Suzhou Institute of Trade and Commerce;
- 英文论文关键词：multiple unmanned aerial vehicles ; automatic depot ; scheduling for persistent service ; mixed integer linear programming
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（B）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
- 语种：英文
- 分类号：V279
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：4
- 文件大小：309k
- 原文格式：D
- 会议级别：全国
摘要
Aiming at the single unmanned aerial vehicle(UAV) can't finish the task which lasts longer than UAV's maximum cruising duration due to limited battery or fuel. First, a multi-UAV system supported by geographically distributed automatic depots is presented, which can accomplish the long-term or uninterrupted task. Then the mixed integer linear programming model is proposed to formalize the scheduling problem of the multi-UAV system. It can guarantee that each task can get service and minimize the total cost of distance and trip. Finally, the model is verified in Matlab 2014 a and it can optimize the objective function and ensure the safety of the UAVs.
Aiming at the single unmanned aerial vehicle(UAV) can't finish the task which lasts longer than UAV's maximum cruising duration due to limited battery or fuel. First, a multi-UAV system supported by geographically distributed automatic depots is presented, which can accomplish the long-term or uninterrupted task. Then the mixed integer linear programming model is proposed to formalize the scheduling problem of the multi-UAV system. It can guarantee that each task can get service and minimize the total cost of distance and trip. Finally, the model is verified in Matlab 2014 a and it can optimize the objective function and ensure the safety of the UAVs.
Aiming at the single unmanned aerial vehicle(UAV) can't finish the task which lasts longer than UAV's maximum cruising duration due to limited battery or fuel. First, a multi-UAV system supported by geographically distributed automatic depots is presented, which can accomplish the long-term or uninterrupted task. Then the mixed integer linear programming model is proposed to formalize the scheduling problem of the multi-UAV system. It can guarantee that each task can get service and minimize the total cost of distance and trip. Finally, the model is verified in Matlab 2014 a and it can optimize the objective function and ensure the safety of the UAVs.
引文
[1]Eggers J W,Draper M H.Multi-UAV control for tactical reconnaissance and close air support missions:Operator perspectives and design challenges,in Proc.NATO RTOHuman Factors and Medicine Symp.HFM-135.NATO TRO,Neuilly-sur-Siene,CEDEX,Biarritz,France.2006.
[2]Yang Y,Polycarpou M M,Minai A A.Multi-UAVcooperative search using an opportunistic learning method,Journal of Dynamic Systems,Measurement,and Control,129(5):716-728,2007.
[3]Manathara J G,Sujit P B,Beard R W.Multiple UAVcoalitions for a search and prosecute mission,Journal of Intelligent&Robotic Systems,62(1):125-158,2011.
[4]Lanillos P,Gan S K,Besada-Portas E,et al.Multi-UAVtarget search using decentralized gradient-based negotiation with expected observation,Information Sciences,282:92-110,2014.
[5]Heredia G,Caballero F,Maza I,et al.Multi-unmanned aerial vehicle(UAV)cooperative fault detection employing differential global positioning(DGPS),inertial and vision sensors,Sensors,9(9):7566-7579,2009.
[6]Jwa S,Ozguner U.Multi-UAV sensing over urban areas via layered data fusion,in 2007 IEEE/SP 14th Workshop on Statistical Signal Processing,2007:576-580.
[7]Bertuccelli,Luca F.,et al.Real-time multi-UAV task assignment in dynamic and uncertain environments in Proceedings of AIAA Guidance,Navigation,and Control Conference,Chicago,Illinois.2009.
[8]Karaman S,Frazzoli E.Linear temporal logic vehicle routing with applications to multi-UAV mission planning,International Journal of Robust and Nonlinear Control,21(12):1372-1395,2011.
[9]Zeng J,Yang X,Yang L,et al.Modeling for UAV resource scheduling under mission synchronization,Journal of Systems Engineering and Electronics,21(5):821-826,2010.
[10]Kemper F P,Suzuki K A O,Morrison J R.UAV consumable replenishment:design concepts for automated service stations,Journal of Intelligent&Robotic Systems,61(1-4):369-397,2011.
[11]Valenti M,Dale D,How J,et al.Mission health management for 24/7 persistent surveillance operations,in AIAA Guidance,Control and Navigation Conference,Myrtle Beach,SC.2007.
[12]Bethke B,Valenti M,How J P.UAV task assignment,IEEERobotics&Automation Magazine,15(1):39-44,2008.
[13]Nigam N,Bieniawski S,Kroo I,et al.Control of multiple UAVs for persistent surveillance:algorithm and flight test results,IEEE Transactions on Control Systems Technology,20(5):1236-1251,2012.
[14]Kim J,Song B D,Morrison J R.On the scheduling of systems of UAVs and fuel service stations for long-term mission fulfillment,Journal of Intelligent&Robotic Systems,70(1-4):347-359,2013.
[15]Suzuki,K.A.O.,Kemper Filho,P.,Morrison,J.R.:Automatic battery replacement system for UAVs:analysis and design,J.Intell.Robot.Syst.,65(1):563-586,2012.
[2]Yang Y,Polycarpou M M,Minai A A.Multi-UAVcooperative search using an opportunistic learning method,Journal of Dynamic Systems,Measurement,and Control,129(5):716-728,2007.
[3]Manathara J G,Sujit P B,Beard R W.Multiple UAVcoalitions for a search and prosecute mission,Journal of Intelligent&Robotic Systems,62(1):125-158,2011.
[4]Lanillos P,Gan S K,Besada-Portas E,et al.Multi-UAVtarget search using decentralized gradient-based negotiation with expected observation,Information Sciences,282:92-110,2014.
[5]Heredia G,Caballero F,Maza I,et al.Multi-unmanned aerial vehicle(UAV)cooperative fault detection employing differential global positioning(DGPS),inertial and vision sensors,Sensors,9(9):7566-7579,2009.
[6]Jwa S,Ozguner U.Multi-UAV sensing over urban areas via layered data fusion,in 2007 IEEE/SP 14th Workshop on Statistical Signal Processing,2007:576-580.
[7]Bertuccelli,Luca F.,et al.Real-time multi-UAV task assignment in dynamic and uncertain environments in Proceedings of AIAA Guidance,Navigation,and Control Conference,Chicago,Illinois.2009.
[8]Karaman S,Frazzoli E.Linear temporal logic vehicle routing with applications to multi-UAV mission planning,International Journal of Robust and Nonlinear Control,21(12):1372-1395,2011.
[9]Zeng J,Yang X,Yang L,et al.Modeling for UAV resource scheduling under mission synchronization,Journal of Systems Engineering and Electronics,21(5):821-826,2010.
[10]Kemper F P,Suzuki K A O,Morrison J R.UAV consumable replenishment:design concepts for automated service stations,Journal of Intelligent&Robotic Systems,61(1-4):369-397,2011.
[11]Valenti M,Dale D,How J,et al.Mission health management for 24/7 persistent surveillance operations,in AIAA Guidance,Control and Navigation Conference,Myrtle Beach,SC.2007.
[12]Bethke B,Valenti M,How J P.UAV task assignment,IEEERobotics&Automation Magazine,15(1):39-44,2008.
[13]Nigam N,Bieniawski S,Kroo I,et al.Control of multiple UAVs for persistent surveillance:algorithm and flight test results,IEEE Transactions on Control Systems Technology,20(5):1236-1251,2012.
[14]Kim J,Song B D,Morrison J R.On the scheduling of systems of UAVs and fuel service stations for long-term mission fulfillment,Journal of Intelligent&Robotic Systems,70(1-4):347-359,2013.
[15]Suzuki,K.A.O.,Kemper Filho,P.,Morrison,J.R.:Automatic battery replacement system for UAVs:analysis and design,J.Intell.Robot.Syst.,65(1):563-586,2012.