Hybrid computing techniques for collaborative control of UCAVs

Randy C. Hoover, Marco P. Schoen, D. Subbaram Naidu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

This paper presents a new approach to collaborative control of multiple Uninhabited Combat Aerial Vehicles (UCAVs) using hybrid soft and hard computing techniques. The approach develops a hierarchical architecture, which consists of four separate layers. The first layer describes the navigational system responsible for mission planning/re-planning, target priority, target distribution among individual UCAVs, and communication/collaboration between all UCAVs in the battlefield. The second layer describes the sensor fusion/definition on each individual UCAV. The third layer describes a fuzzy interpretation system (FIS) in which static and dynamic threat avoidance, and real-time path planning are outlined. The fourth and final layer contains the individual UCAV plant dynamics, autopilot, and navigation subsystem which accepts heading, altitude, and velocity commands. Extensive simulations are given to validate the proposed approach for any number of UCAVs flying in the battlefield.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME Dynamic Systems and Control Division 2005
Pages151-160
Number of pages10
Edition1 PART A
DOIs
StatePublished - Dec 1 2005
Externally publishedYes
Event2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005 - Orlando, FL, United States
Duration: Nov 5 2005Nov 11 2005

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Number1 PART A
Volume74 DSC

Other

Other2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005
CountryUnited States
CityOrlando, FL
Period11/5/0511/11/05

Keywords

  • Adaptive Control
  • Collaborative Control
  • Fuzzy Logic
  • Hierarchical Control
  • Navigational System
  • Sensor Fusion
  • UCAVs

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