No,
Here a quote from Revenge of the Sith script, just after is duel with yoda :
CLONE COMMANDER THIRE: There is no sign of his body, sir.
MAS AMEDDA: Then he is not dead.
PALPATINE: Double your search.
CLONE COMMANDER THIRE: Yes sir. Right away, sir.
PALPATINE: (to Mas Amedda) Tell Captain Kagi to prepare my shuttle for immediate takeoff.
MAS AMEDDA: Yes, Master.
PALPATINE: I sense Lord Vader is in danger.
This menace to his apprentice is new for him, so he cannot have planned it.