This work is intended towards the development of an integrated controller for co- operative pursuit and perimeter tracking in a multi-UAV system around dynamic perimeters, for applications that include forest fires and oil spills, among others. The integrated controller proposed here consists of two orthogonal components, a radial component that acts on each agent facilitating perimeter tracking, and a tangential component acting along the curve that defines the interaction of each agent with its immediate neighboring agent further along the curve, facilitating cyclic pursuit along the closed perimeter. The control model assumes no prior knowledge of the curve, and perimeter tracking and cyclic pursuit implementations rely purely on local, instantaneous observations of the perimeter within each agent's field of view. It is demonstrated through numerical simulations that the integrated controller is stable and allows for consistent perimeter tracking while ensuring uniform agent separations around the perimeter and uniform agent velocities.
|Original language||English (US)|
|Title of host publication||AIAA Infotech at Aerospace (I at A) Conference|
|State||Published - Sep 16 2013|
|Event||AIAA Infotech at Aerospace (I at A) Conference - Boston, MA, United States|
Duration: Aug 19 2013 → Aug 22 2013
|Other||AIAA Infotech at Aerospace (I at A) Conference|
|Period||8/19/13 → 8/22/13|