In this paper, we explore the problem of generating the optimal time path from an initial position and orientation to a final position and orientation in the two-dimensional plane for an aircraft with a bounded turning radius in the presence of a constant wind. Following the work of Boissonnat, we show using the Minimum Principle that the optimal path consists of periods of maximum turn rate or straight lines. We demonstrate, however, that unlike the no wind case, the optimal path can consist of three arcs where the length of the second arc is less than π. A method for generating the optimal path is also presented which iteratively solves the no wind case to intercept a moving virtual target.
Cooperative unmanned aerial vehicle (UAV) teams can serve as a mobile sensor networks to autonomously execute sensing tasks in uncertain and dynamic environments. We have implemented a UAV system that performs collaborative sensing missions under the supervision of a single user. Decentralized task allocation and autonomous mission execution are enabled by onboard computing and ad-hoc wireless communication and provide robustness to communication and resource losses in quickly evolving scenarios.The collaboration algorithm combines shared and local information to produce multi-step plans with the goal of minimizing the global cost of the mission. Missions are constructed in real time from tasks such as patrolling an area or searching for an intruder, and may include constraints such as a restricted airspace. Algorithms for decentralized planning, guaranteed search and avoiding a restricted airspace were demonstrated using a team of four UAVs. Experimental data shows that tasks were allocated to the appropriate UAVs and successfully executed.
This paper addresses the problem of how to use a given set of possibly heterogeneous unmanned aerial vehicles (UAVs) to provide protection to a moving convoy of ground vehicles. By protection, we mean providing video or sensor coverage of a moving region around the convoy. A hierarchical system design is described that addresses how convoy protection missions may be organized and how those missions might fit into a larger context. The system encompasses task generation and allocation, flight path generation and tracking, and synchronization between cooperative tasks.Task allocation is posed as a constraint satisfaction problem. The design of two classes of orbital flight paths, lateral and longitudinal, is discussed. A coordination algorithm is described that allows the aircraft to synchronize their motions to provide improved sensor coverage. Results of a hardwarein-the-loop simulation are shown.
This paper develops a control methodology which allows a number of vehicles to move as a group while maintaining a desired formation pattern. The control is based on the use of generalized coordinates. These coordinates characterize the location (L), orientation (O), and shape (S) of the formation. This provides a natural and convenient way of specifying configuration and allows the group to be controlled as a single entity. Both force-based and velocity-based controls are developed, as well as a simplified implementation with reduced communication requirements.
43rd IEEE Conference on Decision and Control
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