Cooperative control of multiple unmanned aerial vehicles using the potential field theory

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A hierarchical and automated control strategy applicable to the typical suppression of enemy air defense missions that involve multiple unmanned aerial vehicles is addressed. The new path finding and planning method is based upon the potential field theory, whereas conventional approaches largely rely on the so-called Voronoi diagram. The potential field approach that has been widely used for robot path planning is modified into the suppression of enemy air defense maneuver satisfying various mission objectives. In. particular, cooperative maneuvers of unmanned aerial vehicles to attack a common target are dealt with successfully by the proposed potential field approach. A simultaneous arrival condition from different departure points is satisfied by seeking a different set of candidate solutions for the given potential field. Despite increased numerical computational workload in the new method, it leads to significant advantages with smooth trajectory as illustrated by battlefield simulation results.
Publisher
AMER INST AERONAUT ASTRONAUT
Issue Date
2006-11
Language
English
Article Type
Article
Keywords

MOBILE ROBOTS

Citation

JOURNAL OF AIRCRAFT, v.43, no.6, pp.1805 - 1814

ISSN
0021-8669
DOI
10.2514/1.20345
URI
http://hdl.handle.net/10203/16266
Appears in Collection
AE-Journal Papers(저널논문)
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