Time-Delay Compensation of Heterogeneous Network Control for Multiple UAVs and UGVs

10.6138/JIT.2010.11.3.10

Hai-Bin Duan；Quan-Xin Ding；Sen-Qi Liu；Jie Zou

Unmanned Aerial Vehicles UAV ； Unmanned Ground Vehicles UGV ； Heterogeneous network control ； Time-delay ； Particle Swarm Optimization PSO

網際網路技術學刊

11卷3期（2010 / 05 / 01）

379 - 385

英文

This paper presents a time-delay compensation method of heterogeneous network control for multiple unmanned aerial vehicles (UAV) and unmanned ground vehicles (UGV). The detailed updating process for status buffer of control center, UGV control input buffer and UAV center location information buffer are presented, receding horizon control (RHC) and particle swarm optimization (PSO) are also adopted in this approach. Series experimental results show the feasibility and validity of the proposed timedelay compensation method in multiple UAVs and UGVs heterogeneous network control. The proposed approach is also a promising time-delay compensation strategy in solving other heterogeneous network control systems.