Cooperative UAVs: A Higher-Order Approach to Real-Time Trajectory Planningc Coordination, and Control

协作无人机：实时轨迹规划协调和控制的高阶方法

• 批准号: 9912447
• 负责人: Sunil Agrawal
• 金额: $ 22万
• 依托单位: University of Delaware
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2000
• 资助国家: 美国
• 起止时间: 2000-09-01 至 2005-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9912447&HistoricalAwards=false
• 关键词: Cooperative; UAVs; Higher; Order; Approach

The objective of this research is to develop new paradigms for coordination and control of unmanned aerial vehicles (UAVs), which are anticipated to have wide-range of applications, including fighting forest fires, human rescue during natural disasters, protection of crops, surveillance of a city, monitoring of enemy, and mitigation of threats. The basic and unique contribution of this work is to develop strategies and algorithms for feasible and optimal planning of groups of autonomous systems to satisfy their governing equations and applicable constraints. The goal is to reduce on-line computations close to real-time by exploiting the inherent "feedback linearizable" or "differentially flat" structure of dynamic systems. The PI plans to simultaneously undertake two complementary directions: (i) develop algorithms for coordinated planning of a fleet of UAVs, and (ii) test these algorithms on a laboratory test-bed with free-floating vehicles.

这项研究的目的是开发无人机协调和控制的新范例，预计无人机将具有广泛的应用，包括扑灭森林火灾、自然灾害期间的人类救援、保护作物、监视城市、监视敌人和减轻威胁。这项工作的基本和独特的贡献是开发可行和最优规划的策略和算法，以满足自治系统群的控制方程和适用的约束。目标是通过利用动态系统固有的“反馈线性化”或“差分平坦”结构来减少在线计算接近实时。PI计划同时进行两个互补的方向：(i)开发无人机舰队协调规划的算法，以及（ii）在自由浮动车辆的实验室测试平台上测试这些算法。