Decentralized cooperative aerial-surveillance using fixed-wing miniature UAVs
Decentralized cooperative aerial-surveillance using fixed-wing miniature UAVs
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DOI：
10.1109/jproc.2006.876930
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发表时间：
2006-07-01
影响因子：
20.6
通讯作者：
Johanson, David
中科院分区：
文献类型：
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作者：
Beard, Randal W.;McLain, Timothy W.;Johanson, David
许多应用都需要空中监视。民用应用包括监测森林火灾、油田、管道以及追踪野生动物。在国土安全方面的应用包括边境巡逻以及监测核电站周边。军事应用更是多种多样。目前针对这些应用的方法是使用单一有人驾驶飞行器进行监视。然而，有人驾驶飞行器通常体积庞大且价格昂贵。此外，危险环境和操作人员疲劳可能会对飞行员的生命构成潜在威胁。因此，使用无人驾驶飞行器（UAV）实现空中监视自动化是非常必要的。本文概述了一种空中监视的协同控制策略，该策略已在小型（翼展48英寸）无人驾驶飞行器上成功进行了飞行测试。我们解决协同控制问题的方法可归纳为四个步骤：1）定义协同约束和协同目标；2）将协调变量定义为实现协同所需的最少信息量；3）设计集中式协同策略；4）利用一致性方案将集中式策略转化为分散式算法。将通过高保真模拟和实际飞行测试来展示该解决方案的有效性。
Numerous applications require aerial surveillance. Civilian applications include Monitoring forest fires, oil fields, and pipelines and tracking wildlife. Applications to homeland security include border. patrol and monitoring the perimeter of nuclear power plants. Military applications are numerous. The current approach to these applications is to use a single manned vehicle for surveillance. However, manned vehicles are typically large and expensive. in addition, hazardous environments and operator fatigue can potentially threaten the life of the pilot. Therefore, there is a critical need for automating aerial surveillance using unmanned air vehicles (UAVs). This paper gives an overview of a cooperative control strategy for aerial surveillance that has been successfully flight tested on small (48-in wingspan) UAVs. Our approach to cooperative control problems can be summarized in four steps: 1) the definition of a cooperation constraint and cooperation objective; 2) the definition of a coordination variable as the minimal amount of information needed to effect cooperation; 3) the design of a centralized cooperation strategy; and 4) the use of consensus schemes to transform the centralized strategy into a decentralized algorithm. The effectiveness of the solution will be shown using both high-fidelity simulation and actual flight tests.