Multiple UAV deconfliction via navigation functions

Amirreza Rahmani, Kunihiko Kosuge, Takashi Tsukamaki, Mehran Mesbahi

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

11 Citations (Scopus)

Abstract

Unmanned aerial vehicles (UAVs) offer an unprecedented set of capabilities for many civilian and military missions, including those pertaining to surveillance, monitoring, and detection. In fact, as UAVs continue to become less expensive and easy to operate, they have also become more capable in executing complex mission objectives. In the meantime, the higher levels of maneuverability and dynamic capability for UAVs have necessitated the design of efficient algorithms for conflict resolution among them when operating in close proximity of each other and other manned and unmanned vehicles. In this paper, we consider a variant of multiple UAV collision avoidance referred to as the Deconfliction Problem. We then proceed to develop a multiple UAV deconfliction algorithm via appropriate navigation- or potential-functions. The proposed method combines conflict prediction and resolution, navigation, and control of the unmanned flying vehicles while respecting specific mission requirements. Refinements of the basic control module synthesized from the navigation function approach, in terms of augmenting it with a "moving target" and velocity control, are also discussed. A representative set of simulation scenarios concludes the paper.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation and Control Conference and Exhibit
StatePublished - Dec 1 2008
EventAIAA Guidance, Navigation and Control Conference and Exhibit - Honolulu, HI, United States
Duration: Aug 18 2008Aug 21 2008

Other

OtherAIAA Guidance, Navigation and Control Conference and Exhibit
CountryUnited States
CityHonolulu, HI
Period8/18/088/21/08

Fingerprint

Unmanned aerial vehicles (UAV)
Navigation
Unmanned vehicles
Velocity control
Maneuverability
Collision avoidance
Monitoring

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering

Cite this

Rahmani, A., Kosuge, K., Tsukamaki, T., & Mesbahi, M. (2008). Multiple UAV deconfliction via navigation functions. In AIAA Guidance, Navigation and Control Conference and Exhibit [2008-6626]

Multiple UAV deconfliction via navigation functions. / Rahmani, Amirreza; Kosuge, Kunihiko; Tsukamaki, Takashi; Mesbahi, Mehran.

AIAA Guidance, Navigation and Control Conference and Exhibit. 2008. 2008-6626.

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

Rahmani, A, Kosuge, K, Tsukamaki, T & Mesbahi, M 2008, Multiple UAV deconfliction via navigation functions. in AIAA Guidance, Navigation and Control Conference and Exhibit., 2008-6626, AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, HI, United States, 8/18/08.
Rahmani A, Kosuge K, Tsukamaki T, Mesbahi M. Multiple UAV deconfliction via navigation functions. In AIAA Guidance, Navigation and Control Conference and Exhibit. 2008. 2008-6626
Rahmani, Amirreza ; Kosuge, Kunihiko ; Tsukamaki, Takashi ; Mesbahi, Mehran. / Multiple UAV deconfliction via navigation functions. AIAA Guidance, Navigation and Control Conference and Exhibit. 2008.
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