Keywords
cooperative control, unmanned aircraft, UAV
Abstract
This paper addresses cooperative control for a team of unmanned air vehicles (UAVs). Specifically, a team of three small UAVs is controlled to perform a cooperative timing mission. Starting at loiter locations distributed around the periphery of a 2 km square battle area, the UAVs cooperatively plan paths to arrive at a target at the center of the battle area in sequence at 10 sec intervals. Cooperative path planning is performed using the methodology of coordination variables and coordination functions. Coordination and waypoint path planning are centralized on a ground station computer. Experiments have been performed using BYU’s fleet of small fixed-wing UAVs, which employ BYU’s autopilot and ground station technology. Experimental results demonstrating cooperative timing are presented.
BYU ScholarsArchive Citation
Nelson, Derek R.; McLain, Timothy W.; Christiansen, Reed S.; Beard, Randal W.; and Johansen, David, "Initial Experiments in the Cooperative Control of Unmanned Air Vehicles" (2004). Faculty Publications. 1525.
https://scholarsarchive.byu.edu/facpub/1525
Document Type
Peer-Reviewed Article
Publication Date
2004-9
Permanent URL
http://hdl.lib.byu.edu/1877/3412
Publisher
AIAA
Language
English
College
Ira A. Fulton College of Engineering and Technology
Department
Mechanical Engineering
Copyright Status
Nelson, D., McLain, T., Christiansen, R., Beard, R., and Johansen, D. Initial Experiments in the Cooperative Control of Unmanned Air Vehicles, Proceedings of the AIAA Unmanned Unlimited Conference, AIAA-2004-6533, September 2004, Chicago, Illinois. doi: 10.2514/6.2004-6533
Copyright Use Information
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