期刊
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
卷 32, 期 4, 页码 1152-1166出版社
AMER INST AERONAUTICS ASTRONAUTICS
DOI: 10.2514/1.41616
关键词
-
资金
- Michigan/U.S. Air Force Research Laboratory (AFRL) Collaborative Center on Control Sciences
- U.S. Air Force Office of Scientific Research (AFOSR) [FA-8650-07-2-3744]
- National Science Foundation (NSF) [0705451, 0705453]
- Office of Naval Research (ONR) [N00014-07-1-0721]
Consider a routing problem for a team of vehicles in the plane: target points appear randomly over time in a bounded environment and must be visited by one of the vehicles. It is desired to minimize the expected system time for the targets, that is, the expected time elapsed between the appearance of a target point and the instant it is visited. In this paper, such a routing problem is considered fora team of uninhabited aerial vehicles, modeled as vehicles moving with constant forward speed along paths of bounded curvature. Three algorithms are presented, each designed for a distinct set of operating conditions. Each is proven to provide a system time within a constant factor of the optimal when operating under the appropriate conditions. It is shown that the optimal routing policy depends on problem parameters such as the workload per vehicle and the vehicle density in the environment. Finally, there is discussion of a phase transition between two of the policies as the problem parameters are varied. In particular, for the case in which target,; appear sporadically, a dimensionless parameter is identified which completely captures this phase transition and an estimate of the critical value of the-parameter is provided.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据