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Cooperative control of multiple vehicles with limited sensing
Author(s) -
Chen Jian,
M. Dawson Darren,
Salah Mohammad,
Burg Timothy
Publication year - 2006
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.921
Subject(s) - convergence (economics) , controller (irrigation) , computer science , function (biology) , differentiable function , control (management) , control theory (sociology) , control engineering , real time computing , artificial intelligence , engineering , mathematics , mathematical analysis , evolutionary biology , agronomy , economics , biology , economic growth
A navigation function based cooperative control 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. Simulation results are provided to illustrate the performance of the proposed control strategy. Copyright © 2006 John Wiley & Sons, Ltd.