cooperative control, unmanned aircraft, UAV
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). All Faculty Publications. 1525.
Ira A. Fulton College of Engineering and Technology
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
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