Computer Engineering and Applications ›› 2020, Vol. 56 ›› Issue (20): 20-27.DOI: 10.3778/j.issn.1002-8331.2002-0038

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Research on Route Real-Time Planning of UAV-Intelligent Platoons Cooperative Systems

XIE Boyu, LI Maoqing, YUE Lili, CHEN Qixiang   

  1. 1.School of Automation & Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China
    2.School of Electronic & Electrical Engineering, Baoji University of Arts and Sciences, Baoji, Shaanxi 721000, China
  • Online:2020-10-15 Published:2020-10-13



  1. 1.兰州交通大学 自动化与电气工程学院,兰州 730070
    2.宝鸡文理学院 电子电气工程学院,陕西 宝鸡 721000


In the real-time path decision method under intelligent transportation system, intelligent platoons may not receive road information, the reason is the failure of road detector or the interruption of communication signal. To solve this problem, the UAV is introduced to work together with the intelligent platoons, which is called the UAV mode. In this mode, according to the driving time displayed in different signals on the lane and the delay time at the intersection, the driving time is calculated dynamically and a path with the least time is obtained. Finally, the results of MATLAB simulation are consistent with the theoretical analysis in four scenarios, which verifies the effectiveness of the algorithm.

Key words: intelligent transport, path planning, Unmanned Aerial Vehicle(UAV)-intelligent platoons cooperative system, Dijkstra algorithm, vehicle navigation system



关键词: 智能交通, 路径规划, 无人机-智能车队协同系统, Dijkstra算法, 车辆导航系统