期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
DOI：10.5772/63431
语种：English
出版社：SAGE Publications
摘要：A decentralized four-dimensional (4D) trajectory generation method for unmanned aerial vehicles (UAVs), which uses the improved intrinsic tau gravity (tau-G) guidance strategy, is presented in this paper. Based on general tau theory, the current tau-G strategy can only generate the 4D trajectory with zero initial and final velocities, which is not appropriate for decentralized applications. By adding an initial velocity to the intrinsic movement of tau-G strategy, the improved tau-G strategy can synchronously guide the position and velocity to the desired values at the arrival time. In our decentralized 4D trajectory generation method, the improved tau-G strategy is used to plan the 4D trajectories for UAVs. To deal with environmental uncertainty and communication limitations, the receding horizon optimization driven by both sampling time and conflict events is utilized to renew trajectory parameters continually. The simulation results of challenging time-constrained tasks demonstrate that the proposed method can efficiently provide safer and lower-cost 4D trajectories.
