Optimal Control for Unmanned Systems With One-Way Broadcast Communication
Unmanned systems (USs) including unmanned aerial vehicles, unmanned underwater vehicles, and unmanned ground vehicles have great application prospects in military and civil fields, among which the process of finding feasible and optimal paths for the agents in USs is a kernel problem. Traditional pa...
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| Published in: | IEEE transactions on vehicular technology Vol. 71; no. 9; pp. 9297 - 9308 |
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| Main Authors: | , |
| Format: | Journal Article |
| Language: | English |
| Published: |
New York
IEEE
01.09.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
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| ISSN: | 0018-9545, 1939-9359 |
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| Abstract | Unmanned systems (USs) including unmanned aerial vehicles, unmanned underwater vehicles, and unmanned ground vehicles have great application prospects in military and civil fields, among which the process of finding feasible and optimal paths for the agents in USs is a kernel problem. Traditional path finding algorithms are hard to adequately obtain optimal paths in real-time under fast time-varying and poor communication environments. We propose an online optimal control algorithm for USs based on a one-way broadcast communication mode under the assumption of a poor communication environment, mobile targets, radars (or sonar), and missiles (or torpedoes). With the principle of receding horizon control, optimal (or suboptimal) paths are then generated by the approximation theory of neural networks and gradient optimization techniques, with low computation requirements. Also, we give a convergence analysis for our algorithm, and show that each agent can reach its target in finite time under some conditions on agents, targets and radar-missiles. Moreover, simulations demonstrate that the agents in USs can generate optimal (or suboptimal) paths in real time using our algorithm while effectively avoiding collision with other agents or detection by enemy radars. |
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| AbstractList | Unmanned systems (USs) including unmanned aerial vehicles, unmanned underwater vehicles, and unmanned ground vehicles have great application prospects in military and civil fields, among which the process of finding feasible and optimal paths for the agents in USs is a kernel problem. Traditional path finding algorithms are hard to adequately obtain optimal paths in real-time under fast time-varying and poor communication environments. We propose an online optimal control algorithm for USs based on a one-way broadcast communication mode under the assumption of a poor communication environment, mobile targets, radars (or sonar), and missiles (or torpedoes). With the principle of receding horizon control, optimal (or suboptimal) paths are then generated by the approximation theory of neural networks and gradient optimization techniques, with low computation requirements. Also, we give a convergence analysis for our algorithm, and show that each agent can reach its target in finite time under some conditions on agents, targets and radar-missiles. Moreover, simulations demonstrate that the agents in USs can generate optimal (or suboptimal) paths in real time using our algorithm while effectively avoiding collision with other agents or detection by enemy radars. |
| Author | Ge, Chao Chen, Ge |
| Author_xml | – sequence: 1 givenname: Chao orcidid: 0000-0002-5035-5809 surname: Ge fullname: Ge, Chao email: gechao@amss.ac.cn organization: School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing, China – sequence: 2 givenname: Ge orcidid: 0000-0003-4308-1341 surname: Chen fullname: Chen, Ge email: chenge@amss.ac.cn organization: Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, China |
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| SubjectTerms | Aircraft Algorithms approximation theory Autonomous underwater vehicles Broadcasting Collision avoidance Communication Control algorithms Control theory gradient optimization Heuristic algorithms Military applications Missile simulators Missiles Neural networks one-way broadcast commu- nication Optimal control Optimization Optimization techniques Radar Radar detection Real time Real-time systems Unmanned aerial vehicles Unmanned ground vehicles Unmanned systems |
| Title | Optimal Control for Unmanned Systems With One-Way Broadcast Communication |
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