Author: Andrew Ke-Ping SunPublisher:
ISBN:
Category : Aerospace engineering
Languages : en
Pages : 73
Book Description
Cooperative UAV Search and Intercept
Author: Andrew Ke-Ping SunPublisher:
ISBN:
Category : Aerospace engineering
Languages : en
Pages : 73
Book Description
Cooperative UAV Search and Intercept
Author: Andrew Ke-Ping SunPublisher:
ISBN: 9780494600184
Category : Aerospace engineering
Languages : en
Pages : 73
Book Description
In this thesis, a solution to the multi Unmanned Aerial Vehicle (UAV) search and intercept problem for a moving target is presented. For the search phase, an adapted diffusion-based algorithm is used to manage the target uncertainty while individual UAVs are controlled with a hybrid receding horizon/potential method. The coordinated search is made possible by an uncertainty weighting process. The team intercept phase algorithm is a behavioural approach based on the analytical solution of Isaac's Single-Pursuer/Single-Evader (SPSE) homicidal chauffeur problem. In this formulation, the intercepting control is taken to be a linear combination of the individual SPSE controls that would exist for each of the evader/pursuer pairs. A particle swarm optimizer is applied to find approximate optimal weighting coefficients for discretized intervals of the game time. Simulations for the team search, team intercept and combined search and intercept problem are presented.
UAV Cooperative Decision and Control
Author: Tal ShimaPublisher: SIAM
ISBN: 0898718589
Category : Mathematics
Languages : en
Pages : 180
Book Description
Unmanned aerial vehicles (UAVs) are increasingly used in military missions because they have the advantages of not placing human life at risk and of lowering operation costs via decreased vehicle weight. These benefits can be fully realized only if UAVs work cooperatively in groups with an efficient exchange of information. This book provides an authoritative reference on cooperative decision and control of UAVs and the means available to solve problems involving them.
Cooperative search for moving targets with the ability to perceive and evade using multiple UAVs
Author: Ziyi WangPublisher: OAE Publishing Inc.
ISBN:
Category : Computers
Languages : en
Pages : 27
Book Description
This paper focuses on the problem of regional cooperative search using multiple unmanned aerial vehicles (UAVs) for targets that have the ability to perceive and evade. When UAVs search for moving targets in a mission area, the targets can perceive the positions and flight direction of UAVs within certain limits and take corresponding evasive actions, which makes the search more challenging than traditional search problems. To address this problem, we first define a detailed motion model for such targets and design various search information maps and their update methods to describe the environmental information based on the prediction of moving targets and the search results of UAVs. We then establish a multi-UAV search path planning optimization model based on the model predictive control, which includes various newly designed objective functions of search benefits and costs. We propose a priority-encoded improved genetic algorithm with a fine-adjustment mechanism to solve this model. The simulation results show that the proposed method can effectively improve the cooperative search efficiency, and more targets can be found at a much faster rate compared to traditional search methods.
Distributed Autonomous Robotic Systems
Author: Hajime AsamaPublisher: Springer Science & Business Media
ISBN: 4431682759
Category : Technology & Engineering
Languages : en
Pages : 392
Book Description
As a new strategy to realize the goal of flexible, robust, fault-tolerant robotic systems, the distributed autonomous approach has quickly established itself as one of the fastest growing fields in robotics. This book is one of the first to devote itself solely to this exciting area of research, covering such topics as self-organization, communication and coordination, multi-robot manipulation and control, distributed system design, distributed sensing, intelligent manufacturing systems, and group behavior. The fundamental technologies and system architectures of distributed autonomous robotic systems are expounded in detail, along with the latest research findings. This book should prove indispensable not only to those involved with robotic engineering but also to those in the fields of artificial intelligence, self-organizing systems, and coordinated control.
Cooperative Control for Multiple Autonomous UAV's Searching for Targets in an Uncertain Environment
Author: Matthew D. FlintPublisher:
ISBN:
Category :
Languages : en
Pages :
Book Description
The work presented here is part of a research program being conducted in the area of decision and control for autonomous unmanned aerial vehicles (UAV2s). Speci.cally, the formulation is presented for the problem of generating near-optimal trajectories to follow in order for several UAV2s to cooperatively search for targets in a given area for which some a priori data about target distribution is available. In order to solve this problem, a discrete time decision model is created. The solution based on this model is presented, which utilizes a dynamic programming approach, implemented with a best-.rst search algorithm. This solution predicts the best path for individual vehicles to take under constraints on movement and computational power. A key reduction in computational complexity as compared to the ideal case is made by utilizing a limited look-ahead policy and by modeling other vehicles as stochastic elements. The formulation is .exible enough to respond to additional goals and restrictions, also. A set of simulation studies is provided that shows the utility of this approach. The proposed method is demonstrated against a standard search, and another method that currently exists in the literature.
Cooperative Unmanned Aerial Vehicle (UAV) Search in Dynamic Environments Using Stochastic Methods
Author: Publisher:
ISBN:
Category :
Languages : en
Pages :
Book Description
Within this dissertation, the problem of the control of the decentralized path planning decision processes of multiple cooperating autonomous aerial vehicles engaged in search of an uncertain environment is considered. The environment is modeled in a probabilistic fashion, such that both a priori and dynamic information about it can be incorporated. The components of the environment include both target information and threat information. Using the information about the environment, a computationally feasible decision process is formulated that can decide, in a near optimal fashion, which path a searching vehicle should take, using a dynamic programming algorithm with a limited look ahead horizon, with the possibility to extend the horizon using Approximate Dynamic Programming. A planning vehicle must take into account the effects of its (local) actions on meeting global goals. This is accomplished using a passive and predictive cooperation scheme among the vehicles. Lastly, a flexible simulator has been developed, using sound simulation analysis methods, to simulate a UAV search team, which can be used to create statistically valid results demonstrating the effectiveness of the model and solution methods.
Incorporating Weather Systems in Cooperative UAV (unmanned Aerial Vehicle) Search
Author: Publisher:
ISBN:
Category :
Languages : en
Pages : 74
Book Description
Unmanned Aerial Vehicles (UAVs) have been recently used in many areas due to their ability to perform almost as efficiently as piloted aircrafts, at low cost, without endangering human life. In this research, we consider a fleet of UAVs performing a search mission in a bounded area where static targets are located. The search strategy is a cooperative one, rather than a centralized one due to low bandwidth and dynamics in the system. Cooperation has been noted in the literature to be very important for multi-vehicle control systems such as the one considered in this research. Our solution method is a Dynamic Programming (DP) algorithm for computing the trajectories of multiple UAVs from a mission starting point with the objective of cooperatively searching the set of fixed targets. The algorithm presented in this research calculates a gain function for maximizing the number of targets found in the area. Each vehicle maintains a (dynamic) cognitive map of probabilities of indicating where the targets are likely to exist and where other vehicles have already been routed. (Abstract shortened by UMI.).
Performance Analysis of a Cooperative Search Algorithm for Multiple Unmanned Aerial Vehicles Under Limited Communication Conditions
Author: Kevin M. MorrisPublisher:
ISBN:
Category : Drone aircraft
Languages : en
Pages : 250
Book Description
Cooperative Control for UAV's Searching Risky Environments For Targets
Author: Publisher:
ISBN:
Category :
Languages : en
Pages : 13
Book Description
A software architecture is presented, which introduces several agents which focus on different aspects of path planning for multiple autonomous unmanned aerial vehicles (UAV's) that are searching an uncertain and threatening environment for targets. One agent models threats in the environment. Another develops a model of the environment that allows targets to be defined by individual probability distribution. Lastly, an agent is presented that utilizes the information from the other agents to generate a near optimal path plan using a Dynamic Programming algorithm.