Keywords

cooperation, multiagent coordination, path planning, trajectory generation, unmanned air vehicles

Abstract

This paper presents an end-to-end solution to the cooperative control problem represented by the scenario where unmanned air vehicles (UAVs) are assigned to transition through known target locations in the presence of dynamic threats. The problem is decomposed into the subproblems of: 1) cooperative target assignment; 2) coordinated UAV intercept; 3) path planning; 4) feasible trajectory generation; and 5) asymptotic trajectory following. The design technique is based on a hierarchical approach to coordinated control. Simulation results are presented to demonstrate the effectiveness of the approach.

Original Publication Citation

R. W. Beard, T. W. McLain, M. A. Goodrich, and E. P. Anderson. Coordinated Target Assignment and Intercept for Unmanned Air Vehicles. IEEE Transactions on Robotics and Automation, 18(6), pp. 911-922, December 22.