NDLI: Pursuit and evasion in a recursive nested behavioral control structure for unmanned aerial vehicles

Content Provider	IEEE Xplore Digital Library
Author	Alexopoulos, A. Schmidt, T. Badreddin, E.
Copyright Year	2014
Description	Author affiliation: Autom. Lab., Heidelberg Univ., Mannheim, Germany (Alexopoulos, A.; Schmidt, T.; Badreddin, E.)
Abstract	This work tackles the problem of integrating a pursuit-evasion game (PEG) in a recursive nested behavioral control (RNBC) structure for unmanned aerial vehicles (UAV). The UAV agents' architecture is the RNBC structure, considering that the collision avoidance, velocity control and attitude control are already implemented behaviors in this structure. The new high-level behaviors pursuit and evasion are introduced, describing the PEG and providing an appropriate reference velocity vector for the underlying layers of the RNBC structure of the pursuer and the evader, respectively. The reference velocities for the agents are determined by solving the pursuit-evasion problem in a game-theoretical manner, while collision avoidance behavior is implemented one level below. The repulsion force approach is used as collision avoidance technique and provides a velocity vector, which is added to the reference velocity vector of the upper level, if there is a collision risk. The resulting reference input is processed by the subjacent layers in the RNBC structure of the UAV. In simulations it is shown that this approach provides a collision-free pursuit-evasion between UAV agents with dynamic constraints in a general three-dimensional environment with previously unknown obstacles.
Starting Page	1175
Ending Page	1180
File Size	1410464
Page Count	6
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6987737
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	system architectures collision avoidance Attitude control unmanned aerial vehicles pursuit-evasion games dynamic non-cooperative games Collision avoidance
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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