Diffeomorphism transformation based UAV strategy planning for non-convex environments with arbitrary obstacles
Xiaoting Ji, Jie Li, Yifeng Niu · 2015
In this work, we propose a cooperative search system for multiple unmanned aerial vehicles (UAVs) in non-convex environments with arbitrary obstacles. The objective is to control UAVs to find several unknown targets deployed in a given region. The cooperative search system framework integrates the information update into the coverage control scheme, consist of detection, communication and control systems. In order to handle non-convex environment with arbitrary obstacles, a new diffeomorphism transformation method is proposed to transform the search problem in the non-convex region into an equivalent one in the convex region. Furthermore, a control strategy is designed to plan feasible trajectories for UAVs, and the convergence is proved by LaSalle's invariance principle. Finally, the effectiveness and advantages of our proposed algorithm is demonstrated through simulation.