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Pure Mathematics 2024
多无人机同时到达的可解集算法
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Abstract:
随着无人机技术的快速发展，研究多无人机协同运动具有重要的现实意义。本文针对多架同质的无人机，在障碍约束下考察其同时到达给定目标区域的问题。我们基于距离聚类的Euler方法构造近似可解集，进而获得障碍情境下多无人机的可行轨迹。最后，数值仿真证明了理论结果的有效性。
With the rapid advancement of unmanned aerial vehicle (UAV) technology, there exists a significant practical need to explore the collaborative motion of multiple UAVs. This paper investigates the simultaneous arrival problem of multiple unmanned aerial vehicles avoiding obstacles. The technique presented in the paper is based on constructions of the approximate solvability sets. The approximate solvability sets are constructed using the Euler method and selected by distance clustering. Subsequently, we analyze the obstacle situation for this system. Finally, we present simulation results to demonstrate the effectiveness of our theoretical results.
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