Multiple UAV Rendezvous with Collision Avoidance
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Transcript of Multiple UAV Rendezvous with Collision Avoidance
Multiple UAV Rendezvous with Collision Avoidance
Joel George and Debasish GhoseGuidance, Control, and Decision Systems Laboratory
(GCDSL)Department of Aerospace Engineering,Indian Institute of Science, Bangalore
India 560012.
Introduction Rendezvous: meeting at a pre-planned time and
place Rendezvous of multiple UAVs
For simultaneous deployment of resources To exchange resources or critical information
Rendezvous of multiple UAVs when some of the UAVs have to do collision avoidance maneuvers en route
Assumptions Kinematic UAV model
is the position, is the velocity, is the heading, and is the turn rate command of UAV
Global communication between UAVs
cossin
i i i
i i i
i i
x vy v
a
( , )i ix y i
iaiv
i
Solution Approach Rendezvous via consensus on Estimated Time of
Arrival (ETA) at target ETA at target obtained from Dubins path to target Arrive at a consensus on ETA by adjusting
velocities.
(ETA )ii iv f N
Solution Approach
Average consensus
In principle, any consensus protocol can be used. Average consensus protocol is used for the purpose of illustration
1(ETA ) ETA ETA| |i
i
i i jji
f
NNN
Handling velocity bounds If a UAV hits the maximum velocity bound, it
stays with that velocity If a UAV hits the minimum velocity bound, it
stays with that velocity and in addition does a wandering maneuver (move away from target)
Wandering maneuver example Example of a case where one UAV (red) hits upper velocity bound while
other (green) hits lower velocity bound but still achieves a rendezvous
Rendezvous without collision avoidance Example of rendezvous of 10 UAVs
Rendezvous with collision avoidance Rendezvous of 5 UAVs with collision avoidance
Target tracking Target tracking with a stand-off radius Target tracking can be achieved by a little
modification in the rendezvous via consensus algorithm
Stand-off radius achieved by keeping the ETA to target constant
Target tracking Tracking a stationary target
Target tracking Tracking moving target
Remarks The algorithm developed for rendezvous via
consensus can be modified by adding a ‘bias’ to address the cooperative timing problem
Summary Algorithm for multiple UAV rendezvous under
collision avoidance achieved via consensus on ETA to target