Keywords
unmanned aircraft, UAV, cooperative control
Abstract
In this paper we present a hierarchical control scheme that enables multiple UCAVs to achieve demanding missions in hostile environments autonomously. The objective is to use a swarm of UCAVs for a SEAD type mission: fly the UCAVs in a formation to an enemy territory populated with different kinds of threats, collect enemy information or destroy certain targets, and return to the base, all without human intervention. The scheme is an integration of four distinct components, including: (1) high level Voronoi diagram based path planner to avoid static threats; (2) low level path planner to avoid popup threats; (3) differential flatness based trajectory generator to generate dynamically feasible trajectory; and (4) semi-globally stable formation control algorithm to maintain the formation. The scheme was implemented in Matlab and demonstrated very effective path planning, trajectory generation, and formation flying capabilities. We also developed an interface from Matlab to IWARS, a high fidelity battlefield simulation environment developed by Boeing. This enabled us to study the effectiveness of our scheme under various battle scenarios using IWARS.
Original Publication Citation
Li, S., Boskovic, J., Seereeram, S., Prasanth, R., Amin, J., Mehra, R., Beard, R., and McLain, T. Autonomous Hierarchical Control of Multiple Unmanned Combat Air Vehicles (UCAVs), Proceedings of the American Control Conference, pp. 274-279, June 2002, Anchorage, Alaska.
BYU ScholarsArchive Citation
McLain, Timothy; Beard, Randal W.; Li, Sai-Ming; Boskovic, Jovan D.; Seereeram, Sanjeev; Prasanth, Ravi; Amin, Jayesh; and Mehra, Raman K., "Autonomous Hierarchical Control of Multiple Unmanned Combat Air Vehicles (UCAVs)" (2002). Faculty Publications. 1919.
https://scholarsarchive.byu.edu/facpub/1919
Document Type
Conference Paper
Publication Date
2002-6
Permanent URL
http://hdl.lib.byu.edu/1877/3872
Publisher
IEEE
Language
English
College
Ira A. Fulton College of Engineering and Technology
Department
Mechanical Engineering
Copyright Status
© Copyright 2017 IEEE - All rights reserved. This is the author's submitted version of this article. The definitive version can be found at http://ieeexplore.ieee.org/document/1024816/
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