One of the research topics for the autonomous UAVs is formation flight control that provides two or more aircraft flies together under a discipline. For aerial vehicles the advantages of performing formation flight include fuel saving, improved efficiency in air traffic control and cooperative task allocation. Besides the benefits of the autonomous formation flight it has some difficulties like providing collision avoidance in narrow flight zone. Furthermore an autonomous formation flight must provide dynamic routines like getting formation position or changing formation schemes. Potential field based autonomous control is one of the commonly used control techniques providing dynamic and precise control. The bottleneck for the potential field based control is computation power needs especially for global path planning for dynamic, high resolution and large sized fields. GPGPU is one of the parallel computing architectures that provide programming massively parallel SIMD applications on GPUs. In this work GPGPU accelerated real-time potential field based formation control approach is designed and examined under simulation environment for UAVs. In order to reveal the precise and dynamic control features high-resolution potential field based global path planning models have been developed in real-time successfully.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    GPGPU accelerated real-time potential field based formation control for Unmanned Aerial Vehicles


    Beteiligte:
    Cetin, Omer (Autor:in) / Yilmaz, Guray (Autor:in)


    Erscheinungsdatum :

    2014-05-01


    Format / Umfang :

    1656375 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    OpenREALM: Real-time Mapping for Unmanned Aerial Vehicles

    Kern, Alexander / Bobbe, Markus / Khedar, Yogesh et al. | IEEE | 2020


    Hybrid formation control of the Unmanned Aerial Vehicles

    Karimoddini, Ali / Lin, Hai / Chen, Ben M. et al. | Tema Archiv | 2011


    Formation Flight Control Scheme for Unmanned Aerial Vehicles

    Gosiewski, Zdzislaw / Ambroziak, Leszek | Tema Archiv | 2012


    Robust Real-time Vision-based Aircraft Tracking From Unmanned Aerial Vehicles.

    Fu, Changhong / Carrio Fernández, Adrián / Olivares Méndez, Miguel Ángel et al. | BASE | 2014

    Freier Zugriff