Title :
The Null-Space-Based Behavioral Control for Swarm Unmanned Aerial Vehicles
Author :
Shiyou, Dong ; Xiaoping, Zhu ; Guoqing, Long
Author_Institution :
Coll. of Astronaut., Northwestern Polytech. Univ., Xi´´an, China
Abstract :
This paper presents a control framework for the flocking behaviors of UAVs. The cooperative control problem is decomposed into elementary behaviors to be achieved based on local information concerning neighbors. The behavior of each UAV is merged using null-space-based behavioral control which is capable of dealing with conflicts among behaviors. Simulations prove the effectiveness of the proposed technique.
Keywords :
aircraft control; autonomous aerial vehicles; mobile robots; multi-robot systems; UAV; cooperative control problem; flocking behaviors; local information concerning neighbors; null space based behavioral control; swarm unmanned aerial vehicles; Animals; Collision avoidance; Educational institutions; Electronic mail; Mobile robots; Null space; Vectors; Coordination; Null-Space Behavioral Control (NSB); Swarm; Unmanned Aerical Vehicle (UAV);
Conference_Titel :
Instrumentation, Measurement, Computer, Communication and Control, 2011 First International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-0-7695-4519-6
DOI :
10.1109/IMCCC.2011.253
