Synthesis of the Laws of Motion Control of a UAV Group With Natural Obstacles

Synthesis of the Laws of Motion Control of a UAV Group With Natural Obstacles

Dmytro Kucherov (National Aviation University, Ukraine), Minglei Fu (Zhejiang University of Technology, China) and Andrei Kozub (National University of Defense of Ukraine, Ukraine)
Copyright: © 2019 |Pages: 27
DOI: 10.4018/978-1-5225-7709-6.ch007

Abstract

A solution is proposed for the task of controlling a group of UAVs moving along a given route. The group is considered as a limited-size formation consisting of n-agents moving relative to the leader, which allows us to treat the group as some aggregate with the center of motion. The quantitative composition of a group can change while maintaining the integrity of the group. The chapter proposes the use of smooth laws governing the motion of a group. The safety of motion is ensured by introducing into the law of control the components equivalent to the creation of attractive and repulsive fields.
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There are many studies on multi-agent systems. The most general idea and concepts of multi-agent systems are given in fundamental publications (Hoek & Wooldridge, 2008 & Murray, 2007). Fundamental research in this area is devoted to the formalization of knowledge representations, for example, as is done by (Hoek & Wooldridge, 2008). Two areas are of interest here. The methods of representing the intelligent state of agents and the methods for determining the rational actions that lead to this state are referred to the first direction. The second direction is to describe the structure of the multi-agent environment and to provide the authorities that agents are assigned to act as part of the group.

Key Terms in this Chapter

Aggregate: System, the combination of something combined to fulfill a specific goal.

Potential Field: A vector field that can be represented as the gradient of some scalar coordinate function.

Movement: This called the change in position of a body in space relative to other bodies over time. In this case, the bodies interact according to the laws of mechanics.

Attractive Field: This is a potential vector field around each body whose action opposite to repulsive field.

UAV: Unmanned aerial vehicle or drone is an aircraft without crew on board.

Group: A set of related and interacting elements.

Agent: Some entity, a system that possesses properties, in addition to the properties of the object to exist and unite, necessary for interaction with the external environment.

Repulsive Field: This is a potential vector field around each body whose strength is inversely proportional to its distance.

Control Law: The mathematical form of transformations of driving influences, disturbances, effects of feedbacks that determine the control actions.

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