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

Abstract

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.