Integration of Multiple UAVs for Collaborative ISR Missions in an Urban Environment
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Authors
Chua, Chee Nam
Subjects
Quadrotor
UAVs
Interoperability
Direct method
Urban environment
Trajectory Following
Trajectory Generation
Optimization
Inverse Dynamics
IDVD
UAVs
Interoperability
Direct method
Urban environment
Trajectory Following
Trajectory Generation
Optimization
Inverse Dynamics
IDVD
Advisors
Yakimenko, Oleg
Papoulias, Fotis
Date of Issue
2012-09
Date
Sep-12
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
Military conflicts are shifting from jungles and deserts to cities. This is because terrorists, insurgents, and guerillas find these areas provide a rich target environment and good hideouts. With the use of UAVs, urban threats can be tracked and targeted effectively. However, in an urban environment where there is little or no GPS signals and many obstacles, navigation of UAVs is a major challenge. Multiple UAVs can be employed to share sensor information to counter these challenges and to perform Intelligence, Surveillance, and Reconnaissance (ISR) missions with greater ground coverage and better success rates. This thesis explored the various types of UAVs deployed for urban operations and investigated the trends of the UAVs in terms of their parameters such as weight, altitude, speed, and sensor suite. The challenges and requirements for interoperability of multi-UAV operations in urban environments were also discussed. A direct-method-based control system for multiple UAV collaboration and obstacle collision avoidance was proposed. The UAVs were able to share and integrate their sensors information for joint cooperation. A dynamic model was developed for the simulation testing of the algorithm. Following that, physical experiment was carried out in an indoor environment on Quanser QBall-X4 UAV to evaluate the results.
Type
Thesis
Description
Series/Report No
Department
Systems Engineering (SE)
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.