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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Coordinated control of multiple UAVs for time-critical applications


    Contributors:

    Published in:

    Publication date :

    2006-01-01


    Size :

    852232 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    On Coordinated Road Search using Time-Coordinated Path Following of Multiple UAVs

    Dobrokhodov, Vladimir / Kaminer, Isaac / Jones, Kevin et al. | AIAA | 2010


    Intelligent Autonomy for Multiple, Coordinated UAVs

    Weiss, L. G. / Lewis, A. S. / American Helicopter Society | British Library Conference Proceedings | 2004


    On Coordinated Road Search Using Time-Coordinated Path Following of Multiple UAVs

    Dobrokhodov, V. / Kaminer, I. / Jones, K. et al. | British Library Conference Proceedings | 2010



    Coordinated Path Following for Time-Critical Missions of Multiple UAVs via L1 Adaptive Output Feedback Controllers

    Kaminer, Isaac / Yakimenko, Oleg / Dobrokhodov, Vladimir et al. | AIAA | 2007