The paper proposes a solution to the problem of coordinated control of multiple unmanned air vehicles (UAVs) to ensure collision-free maneuvers under strict spatial and temporal constraints. The solution proposed relies on the decoupling of space and time in the problem formulation. First, a set of feasible trajectories are generated for all UAVs using a new direct method of optimal control that takes into account rules for collision avoidance. A byproduct of this step yields for each vehicle a spatial path to be followed, together with a desired nominal speed profile along that path. Each vehicle is then asked to execute a pure path following maneuver in three-dimensional space by resorting to a novel 3D algorithm that enforces temporal constraints aimed at coordinating the fleet of vehicles. Simulations illustrate the potential of the methodology developed.


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    Titel :

    Coordinated control of multiple UAVs for time-critical applications


    Beteiligte:
    Kaminer, I.I. (Autor:in) / Yakimenko, O.A. (Autor:in) / Pascoal, A.M. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2006-01-01


    Format / Umfang :

    852232 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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