Title :
Multiple UAV navigation with finite sensing zone
Author :
Chen, Jian ; Dawson, Darren M. ; Salah, Mohammad ; Burg, Timothy
Author_Institution :
Dept. of Mech. & Aeronaut. Eng., Clarkson Univ., Potsdam, NY
Abstract :
A navigation function based path planner is developed in this paper for the navigation of multiple unmanned aerial vehicles (UAVs) in the presence of known stationary obstacles and unknown enemy assets (EAs). Specifically, the motion of UAVs are planned in a centralized fashion. The standard navigation function approach is extended to a multiple navigation strategy with an analytical switch among different cases due to the limited sensing zone of the UAVs. A differentiable controller is proposed based on this navigation function that yields asymptotic convergence. A discussion for avoiding moving EAs is presented
Keywords :
aerospace control; collision avoidance; control system synthesis; motion control; multi-agent systems; navigation; remotely operated vehicles; asymptotic convergence; differentiable controller; enemy assets; finite sensing zone; motion planning; multiple UAV navigation; navigation function; path planning; stationary obstacles; unmanned aerial vehicles; Aerospace engineering; Algorithm design and analysis; Convergence; Motion control; Navigation; Path planning; Robot sensing systems; Sections; Switches; Unmanned aerial vehicles;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657502
