TY - GEN
T1 - Hybrid computing techniques for collaborative control of UCAVs
AU - Hoover, Randy C.
AU - Schoen, Marco P.
AU - Subbaram Naidu, D.
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
KW - Adaptive Control
KW - Collaborative Control
KW - Fuzzy Logic
KW - Hierarchical Control
KW - Navigational System
KW - Sensor Fusion
KW - UCAVs
UR - http://www.scopus.com/inward/record.url?scp=33645683008&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33645683008&partnerID=8YFLogxK
U2 - 10.1115/IMECE2005-80144
DO - 10.1115/IMECE2005-80144
M3 - Conference contribution
AN - SCOPUS:33645683008
SN - 0791842169
SN - 9780791842164
T3 - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
SP - 151
EP - 160
BT - Proceedings of the ASME Dynamic Systems and Control Division 2005
T2 - 2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005
Y2 - 5 November 2005 through 11 November 2005
ER -