Enhanced Conflict Avoidance and Dynamic Path Replanning for Multi-UAVs through MILP with Real-Time Speed and Heading Angle ControlOA

作者：Xiaoqin Liu;Bin He;Gang Xiao

作者单位：Department of Control Science and Engineering,Tongji University,Shanghai 200092,P.R.China||Shanghai Research Institute for Intelligent Autonomous Systems,Tongji University,Shanghai 201210,P.R.China||National Key Laboratory of Autonomous Intelligent Unmanned Systems,Tongji University,Shanghai 201210,P.R.China||Frontiers Science Center for Intelligent Autonomous Systems,Ministry of Education,Shanghai 201210,P.R.China||Shanghai key Laboratory of Intelligent Autonomous Systems,Tongji University,Shanghai 200092,P.R.ChinaDepartment of Control Science and Engineering,Tongji University,Shanghai 200092,P.R.China||Shanghai Research Institute for Intelligent Autonomous Systems,Tongji University,Shanghai 201210,P.R.China||National Key Laboratory of Autonomous Intelligent Unmanned Systems,Tongji University,Shanghai 201210,P.R.China||Frontiers Science Center for Intelligent Autonomous Systems,Ministry of Education,Shanghai 201210,P.R.China||Shanghai key Laboratory of Intelligent Autonomous Systems,Tongji University,Shanghai 200092,P.R.ChinaSchool of Aeronautics and Astronautics,Shanghai Jiao Tong University,Shanghai 200240,P.R.China

中文关键词：Conflict avoidancepath replanningmixed integer linear programmingmulti-UAVs

英文关键词：Conflict avoidancepath replanningmixed integer linear programmingmulti-UAVs

刊名：《无人系统（英文）》 2025 (4)

页码/页数：1041-1051,11

基金：This study was co-supported by the National Natural Sci-ence Foundation of China(No.62088101),Shanghai Mu-nicipal Science and Technology Major Project(No.2021SHZDZX0100)and the Fundamental Research Funds for the Central Universities.

DOI：10.1142/S2301385025500645