Keywords

trajectory planning, cooperative control, rendezvous, UAV, unmanned aircraft

Abstract

A trajectory generation strategy that facilitates the coordination of multiple unmanned air vehicles is developed. Of particular interest is the planning of threat-avoiding trajectories that result in the simultaneous arrival of multiple UAVs at their targets. In this approach, paths to the target are modeled using the physical analogy of a chain. A unique strength of the planning approach is the ability to specify or alter the path length by adding or subtracting links from the chain. Desirable paths to the target are obtained by simulating the dynamics of the chain where threats apply repulsive forces to the chain and forces internal to the chain tend to straighten it out. The result for multiple vehicles and targets is a set of smooth and flyable paths of equal length that reduces exposure to threats.

Original Publication Citation

McLain, T. and Beard, R. Trajectory Planning for Coordinated Rendezvous of Unmanned Air Vehicles, Proceedings of the AIAA Guidance, Navigation, and Control Conference, AIAA-2000-4369, August 2000, Denver, Colorado.

Document Type

Peer-Reviewed Article

Publication Date

2000-8

Permanent URL

http://hdl.lib.byu.edu/1877/3419

Publisher

AIAA

Language

English

College

Ira A. Fulton College of Engineering and Technology

Department

Mechanical Engineering

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