DocumentCode :
1066133
Title :
Distributed Decision and Control for Cooperative UAVs Using Ad Hoc Communication
Author :
Ben-Asher, Yosi ; Feldman, Sharoni ; Gurfil, Pini ; Feldman, Moran
Author_Institution :
Haifa Univ., Haifa
Volume :
16
Issue :
3
fYear :
2008
fDate :
5/1/2008 12:00:00 AM
Firstpage :
511
Lastpage :
516
Abstract :
This study develops a novel distributed algorithm for task assignment (TA), coordination, and communication of multiple unmanned aerial vehicles (UAVs) engaging multiple targets and conceives an ad hoc routing algorithm for synchronization of target lists utilizing a distributed computing topology. Assuming limited communication bandwidth and range, coordination of UAV motion is achieved by implementing a simple behavioral flocking algorithm utilizing a tree topology for distributed flight coordination. Distributed TA is implemented by a relaxation process, wherein each node computes a temporary TA based on the union of the TAs of its neighbors in the tree. The computation of the temporary TAs at each node is based on weighted matching in the UAV-target distances graph. A randomized sampling mechanism is used to propagate TAs among different parts of the tree. Thus, changes in the location of the UAVs and targets do not pass through the root of the tree. Simulation experiments show that the combination of the flocking and the TA algorithms yields the best performance.
Keywords :
ad hoc networks; aerospace control; distributed algorithms; distributed control; mobile robots; multi-robot systems; remotely operated vehicles; sampling methods; synchronisation; telecommunication network routing; trees (mathematics); UAV motion coordination; UAV-target distance graph; ad hoc routing algorithm; behavioral flocking algorithm; cooperative UAV; distributed algorithm; distributed computing topology; distributed control; distributed decision; distributed flight coordination; multiple autonomous robots; randomized sampling mechanism; relaxation process; target list synchronization; task assignment; tree topology; unmanned aerial vehicles; weighted matching; Distributed algorithms; distributed control; mobile communication;
fLanguage :
English
Journal_Title :
Control Systems Technology, IEEE Transactions on
Publisher :
ieee
ISSN :
1063-6536
Type :
jour
DOI :
10.1109/TCST.2007.906314
Filename :
4450044
Link To Document :
بازگشت