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Multiple Vehicles (multiple + vehicle)

Distribution by Scientific Domains
Engineering100%

Selected Abstracts

Cooperative control of multiple vehicles with limited sensing

INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 2-3 2007
Jian Chen
Abstract 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. [source]

On-line estimation and path planning for multiple vehicles in an uncertain environment

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 8 2004
Jarurat Ousingsawat
Abstract A unified approach to cooperative target tracking and path planning for multiple vehicles is presented. All vehicles, friendly and adversarial, are assumed to be aircraft. Unlike the typical target tracking problem that uses the linear state and nonlinear output dynamics, a set of aircraft nonlinear dynamics is used in this work. Target state information is estimated in order to integrate into a path planning framework. The objective is to fly from a start point to a goal in a highly dynamic, uncertain environment with multiple friendly and adversarial vehicles, without collision. The estimation architecture proposed is consistent with most path planning methods. Here, the path planning approach is based on evolutionary computation technique which is then combined with a nonlinear extended set membership filter in order to demonstrate a unified approach. A cooperative estimation approach among friendly vehicles is shown to improve speed and routing of the path. Copyright © 2004 John Wiley & Sons, Ltd. [source]

Improving the coordination efficiency of limited-communication multi,autonomus underwater vehicle operations using a multiagent architecture

JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 4 2010
Christopher C. Sotzing
This research addresses the problem of coordinating multiple autonomous underwater vehicle (AUV) operations. An intelligent mission executive has been created that uses multiagent technology to control and coordinate multiple AUVs in communication-deficient environments. By incorporating real-time vehicle prediction, blackboard-based hierarchical mission plans, mission optimization, and a distributed multiagent,based paradigm in conjunction with a simple broadcast communication system, this research aims to handle the limitations inherent in underwater operations, namely poor communication, and intelligently control multiple vehicles. In this research, efficiency is evaluated and then compared to the current state of the art in multiple AUV control. The research is then validated in real AUV coordination trials. Results will show that compared to the state of the art, the control system developed and implemented in this research coordinates multiple vehicles more efficiently and is able to function in a range of poor communication environments. These findings are supported by in-water validation trials with heterogeneous AUVs. © 2010 Wiley Periodicals, Inc. [source]