Distributed path planning for a UAV communication chain by dual decomposition

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creativework.keywordsAutonomous vehicles, Constraints, Decomposition methods, Distributed control, Interconnected systems, Path planning, Radio-communication
creativework.publisherIFAC SecretariatSchlossplatz 12A-2361 LaxenburgA-2361en
dc.contributor.authorGrancharova A.
dc.contributor.authorGrøtli E.
dc.contributor.authorJohansen T.
dc.date.accessioned2024-07-10T14:27:03Z
dc.date.accessioned2024-07-10T14:48:00Z
dc.date.available2024-07-10T14:27:03Z
dc.date.available2024-07-10T14:48:00Z
dc.date.issued2012-01-01
dc.description.abstractIn this paper, a distributed approach to Model Predictive Control (MPC)-based path planning for a UAV (Unmanned Aerial Vehicle) communication chain under radio path loss constraints is proposed. It is based on the dynamic dual decomposition method and reformulates the centralized path planning optimization problem with coupled constraints into an equivalent distributed path planning optimization problem, where the resulting sub-problems are completely decoupled. The MPC-based optimization sub-problems are computed autonomously within each UAV, using convex quadratic programming and gradient iterations, with the requirement that each UAV communicates its current measured position and the computed optimal velocity trajectory to its neighbouring UAVs. © 2012 IFAC.
dc.identifier.doi10.3182/20121003-3-SF-4024.00001
dc.identifier.issn1474-6670
dc.identifier.scopusSCOPUS_ID:84881011285en
dc.identifier.urihttps://rlib.uctm.edu/handle/123456789/277
dc.language.isoen
dc.source.urihttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84881011285&origin=inward
dc.titleDistributed path planning for a UAV communication chain by dual decomposition
dc.typeConference Paper
oaire.citation.issue28
oaire.citation.volume45
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