Coordinated Path Following of Multiple UAVs for Time-Critical Missions in the Presence of Time-Varying Communication Topologies
MetadataShow full item record
We address the problem of steering multiple unmanned air vehicles (UAVs) along given paths (path-following) under strict temporal coordination constraints requiring, for example, that the vehicles arrive at their final destinations at exactly the same time. Pathfollowing relies on a nonlinear Lyapunov based control strategy derived at the kinematic level with the augmentation of existing autopilots with L1 adaptive output feedback control laws to obtain inner-outer loop control structures with guaranteed performance. Multiple vehicle timecritical coordination is achieved by enforcing temporal constraints on the speed profiles of the vehicles along their paths in response to information exchanged over a dynamic communication network. We consider that each vehicle transmits its coordination state to only a subset of the other vehicles, as determined by the communications topology adopted. We address explicitly the case where the communication graph that captures the underlying communication network topology may be disconnected during some interval of time (or may even fail to be connected at any instant of time) and provide conditions under which the closed-loop system is stable. Flight test results obtained at Camp Roberts, CA in 2008 and hardware-in-the-loop (HITL) simulations demonstrate the benefits of the algorithms developed.
RightsThis 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.
Showing items related by title, author, creator and subject.
McCandless, Ronald G. (Monterey, California. Naval Postgraduate School, 1989-03);Since World War II, the United States Army has been fielding combat vehicles with greater mobility, firepower, and survivability. The tactics and doctrine of the Army have become more offensively oriented to improve the ...
Chen, Kuan-Jen (1975-03);The Armed Forces of the Republic of China have a large number of motor vehicles for administrative use. The vehicles were acquired from different sources in different years. In general, the vehicles are old in age. The ...
Garrison, Clifton F. Jr. (1983-03);An economic analysis is made of vehicles powered by compressed natural gas (CNG), alcohol, and electric vehicles (EV's) as possible replacements for gasoline-powered vehicles. Advantages and disadvantages of vehicles ...