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Mathematical Problems in Engineering
Volume 2015 (2015), Article ID 878536, 14 pages
Research Article

Cooperative Solution of Multi-UAV Rendezvous Problem with Network Restrictions

Aviation University of Air Force, Changchun 130022, China

Received 2 February 2015; Accepted 11 May 2015

Academic Editor: Yang Tang

Copyright © 2015 Qingjie Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


By considering the complex networks, the cooperative game based optimal consensus (CGOC) algorithm is proposed to solve the multi-UAV rendezvous problem in the mission area. Firstly, the mathematical description of the rendezvous problem is established, and the solving framework is provided based on the coordination variables and coordination function. It can decrease the transmission of the redundant information and reduce the influence of the limited network on the task. Secondly, the CGOC algorithm is presented for the UAVs in distributed cooperative manner, which can minimize the overall cost of the multi-UAV system. The CGOC control problem and the corresponding solving protocol are given by using the cooperative game theory and sensitivity parameter method. Then, the CGOC method of multi-UAV rendezvous problem is proposed, which focuses on the trajectory control of the platform rather than the path planning. Simulation results are given to demonstrate the effectiveness of the proposed CGOC method under complex network conditions and the benefit on the overall optimality and dynamic response.