UAV rendezvous based on Nash bargain

The purpose of this paper is to find a solution for the unmanned aerial vehicle (UAV) rendezvous problem, which should be feasible, optimal and not time consuming. In the existing literatures, the UAV rendezvous problem is always presented as a matter of simultaneous arrival. They focus only on the time consistency. However, the arrival time of UAVs can vary according to the rendezvous position. The authors should determine the best rendezvous position with considering UAVs’ maneuver constraint, so that UAVs can construct a formation in a short time.

The authors present a decentralized method in which UAVs negotiate with each other for the best rendezvous positions by using Nash bargain. The authors analyzed the constraints of the rendezvous time and the UAV maneuver, and proposed an objective function that allows UAVs to get to their rendezvous positions as fast as possible. Bezier curve is adopted to generate smooth and feasible flight trajectories. During the rendezvous process, UAVs adjust their speed so that they can arrive at the rendezvous positions simultaneously.

The effectiveness of the proposed method is verified by simulation experiments. The proposed method can successfully and efficiently solve the UAV rendezvous problem.

As far as the authors know, it is the first time Nash bargain is used in the UAV rendezvous problem. The authors modified the Nash bargain method and make it distributed, so that it can be computed easily. The proposed method is much less consuming than ordinary Nash bargain method and ordinary swarm intelligence based methods. It also considers the UAV maneuver constraint, and can be applied online for its fast calculation speed. Simulations demonstrate the effectiveness of the proposed method.