{"title":"Cooperative planning method for swarm UAVs based on hierarchical strategy","authors":"Dong Shiyou, Zhuang Xiaoping, Long Guoqing","doi":"10.1109/ICSSEM.2012.6340870","DOIUrl":null,"url":null,"abstract":"In this paper, the problem of controlling swarm UAVs is studied by considering a hierarchical strategy based on the local interactions. First swarm as a whole plans its own initial path using Voronoi graph and Dijkstra algorithm. Second swarm UAVs combine the low-level behaviors to yield swarm behaviors. The results achieved for such a strategy are verified by computer simulations.","PeriodicalId":115037,"journal":{"name":"2012 3rd International Conference on System Science, Engineering Design and Manufacturing Informatization","volume":"19 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 3rd International Conference on System Science, Engineering Design and Manufacturing Informatization","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSSEM.2012.6340870","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6
Abstract
In this paper, the problem of controlling swarm UAVs is studied by considering a hierarchical strategy based on the local interactions. First swarm as a whole plans its own initial path using Voronoi graph and Dijkstra algorithm. Second swarm UAVs combine the low-level behaviors to yield swarm behaviors. The results achieved for such a strategy are verified by computer simulations.
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