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Cooperative Control of Unmanned Vehicles in a Time-Varying Flowfield
| Content Provider | Semantic Scholar |
|---|---|
| Author | Peterson, Cameron K. Paley, Derek A. |
| Copyright Year | 2009 |
| Abstract | Unmanned vehicles provide an effective approach for tracking, surveillance, and reconnaissance missions. Much work has been done to provide control algorithms to promote collaboration of UAVs and other autonomous vehicles. However, the majority of this work does not account for the adverse effects caused by flowfields. In this paper we present decentralized control algorithms designed to operate in a spatially or temporally varying flowfield. We use a Newtonian-particle model to represent each vehicle. Each particle travels at a constant speed and uses a steering control to compensate for the flow. We propose an algorithm that stabilizes a circular formation in a time-varying, spatially nonuniform flowfield. The center of the formation can be arbitrary or prescribed. In the case of a time-varying and spatially uniform flowfield, we propose an algorithm to stabilize a circular formation in which the temporal spacing between particles is regulated. The theoretical results are supported by numerical simulations that illustrate a circular formation tracking a maneuvering target as it turns or accelerates. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://cdcl.umd.edu/papers/gnc09a.pdf |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Algorithm Autonomous robot Consensus dynamics Distributed control system Drug vehicle Numerical analysis Religious Missions Simulation Splay tree Unmanned aerial vehicle Velocity (software development) travel |
| Content Type | Text |
| Resource Type | Article |
