Safety Constrained Multi-UAV Time Coordination: A Bi-level Control Framework in GPS Denied Environment-猫眼课题宝

DOI：

10.2514/6.2020-2621

发表时间：

2020-05

期刊：

ArXiv

影响因子：

通讯作者：

中科院分区：

其他

文献类型：

作者：

Wenbin Wan;Hunmin Kim;Yikun Cheng;N. Hovakimyan;P. Voulgaris;L. Sha

无人机（UAV）在GPS拒绝环境中遭受传感器漂移，这可能导致安全问题。为避免多无人机系统在完成时间要求严格的协调任务时出现不可容忍的传感器漂移，提出了一种安全约束的双层控制框架。第一级是时间关键协调级，其实现协调状态的一致性并提供作为协调状态的函数的虚拟目标。第二级是安全关键控制级，其被设计为跟踪虚拟目标，同时在路径重新规划级调整被攻击的UAV以支持弹性状态估计。特别地，基于多无人机协同使命，时间关键的协调级框架通过所提出的一致性协议算法生成虚拟目标的期望速度和位置剖面。安全关键控制级别能够使每个UAV遵循其分配的路径，同时检测攻击，弹性地估计状态，并在逃逸时间内将UAV驱动到欺骗设备的有效范围之外。通过对三无人机系统的数值仿真，验证了所提出的安全约束双层控制框架的有效性。

Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can cause safety issues. To avoid intolerable sensor drifts while completing the time-critical coordination task for multi-UAV systems, we propose a safety constrained bi-level control framework. The first level is the time-critical coordination level that achieves a consensus of coordination states and provides a virtual target which is a function of the coordination state. The second level is the safety-critical control level that is designed to follow the virtual target while adapting the attacked UAV(s) at a path re-planning level to support resilient state estimation. In particular, the time-critical coordination level framework generates the desired speed and position profile of the virtual target based on the multi-UAV cooperative mission by the proposed consensus protocol algorithm. The safety-critical control level is able to make each UAV follow its assigned path while detecting the attacks, estimating the state resiliently, and driving the UAV(s) outside the effective range of the spoofing device within the escape time. The numerical simulations of a three-UAV system demonstrate the effectiveness of the proposed safety constrained bi-level control framework.

Safety Constrained Multi-UAV Time Coordination: A Bi-level Control Framework in GPS Denied Environment

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