Multi-UAV Convoy Protection: An Optimal Approach to Path Planning and Coordination
Ding, Xu Chu
Rahmani, Amir R.
Egerstedt, Magnus B.
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In this paper we study the problem of controlling a group of Unmanned Aerial Vehicles (UAVs) to provide convoy protection to a group of ground vehicles. The UAVs are modeled as Dubins vehicles flying at a constant altitude with bounded turning radius. We first present time-optimal paths for providing convoy protection to stationary ground vehicles. Then we propose a control strategy to provide convoy protection to ground vehicles moving on straight lines. The minimum number of UAVs required to provide perpetual convoy protection in both cases are derived.