Autonomous Mission Management for Forest Search with Multiple Unmanned Aerial Vehicles

Kemao Peng, Feng Lin, Ben M. Chen

2016

Abstract

An autonomous mission management (AMM) system is designed with the enhanced hierarchical-distributed methodology (HDM) for multiple unmanned aerial vehicles (UAVs) to search a field of forest together. The main ideas of the enhanced HDM are hierarchical control and distributed implementation. The event control law is partitioned into the group and individual event control laws. The group event control law is to coordinate the group of UAVs to complete the designated mission and the individual event control laws are to complete the assigned submissions/ tasks accordingly. The group event control law is executed by the leader and any member can be designated or selected as the leader on the rules. The forest search is applied to verify the designed AMM system in simulation. The simulation results demonstrate that the designed AMM system is successful to complete the designated mission by collaborating the group of UAVs.

References

  1. Bellingham, J., Tillerson, M., Alighanbari, M., and How, J. (2002). Cooperative path planning for multiple uavs in dynamic and uncertain environments. In Proceedings of the 41st IEEE Conference on Decision and Control, pages 2816-2822, Las Vegas, Nevada, USA. IEEE.
  2. Inalhan, G., Stipanovic, D., and Tomlin, C. (2002). Decentralized optimization with application to multiple aircraft coordination. In Proceedings of the 41st IEEE InternationalConference on Decision and Control, pages 1147-1155, Las Vegas, Venada, USA. IEEE.
  3. Jadbabaic, A., Lin, J., and Morse, A. S. (2003). Coordination of groups of mobile autonomous agents with neighbor rules. IEEE Transactions on Automatic Control, 48(6):998-1001.
  4. Kaminer, I., Yakimenko, O., Pascoal, A., and Ghabcheloo, R. (2006). Path generation, path following and coordinated control for timecritical missions of multiple uavs. In Proceedings of 2006 American Control Conference, Minneapolis, MN, USA. IEEE.
  5. Kopeikin, A. N., Ponda, S. S., Johnson, L. B., and How, J. P. (2013). Dynamic mission planning for communication control in multiple unmanned aircraft teams. Unmanned Systems, 1(1):41-58.
  6. Lafferriere, G., Williams, A., Caughman, J., and Veerman, J. E. (2005). Decentralized control of vehicle formations. Systems and Control Letters, 54(9):899-910.
  7. Murata, T. (1989). Petri Nets: Properties, Analysis and Applications. Proceedings of the IEEE, 77(4):541-580.
  8. Peng, K., Pang, T., Lin, F., and Chen, B. M. (2014). Autonomous mission execution for multiple unmanned aerial vehicles with hierarchical-distributed methodology. In Proceedings of 2014 11th IEEE InternationalConference on Control and Automation, pages 1369-1374, Taichung, Taiwan. IEEE.
  9. Richards, A., abd M. Tillerson, J. B., and How, J. (2002). Coordination and control of multuple uavs. Aiaa paper 2002-4588.
  10. Teo, R., Jang, J. S., and Tomlin, C. J. (2004). Automated multiple uav flight the stanford dragonfly uav program. In Proceedings of the 43rd IEEE InternationalConference on Decision and Control, pages 4268- 4273, Atlantis, Geogia, USA. IEEE.
  11. Tomlin, C. J., Lygeros, J., and Sastry, S. S. (2000). A game theoretic approach to controller design for hybrid systems. Proceedings of the IEEE, 88(7):949-969.
  12. Uhrmann, J. and Schulte, A. (2011). Task-based guidance of multiple uav using cognitive automation. In Proceedings of 2011 International Conference on Advanced Cognitive Technologies and Applications, Rome, Utaly. ABIA.
  13. van der Schaft, A. J. and Schumacher, H. (1998). Complementarity modeling of hybrid systems. IEEE Transactions on Automatic Control, 43(4):483-490.
  14. Wong-Toi, H. (1997). The synthesis of controllers for linear hybrid automata. In Proceedings of the 1997 IEEE Conference on Decision and Control, pages 4607- 4613, San Diego, CA, USA. IEEE.
  15. Ye, H., Michel, A., and Hou, L. (1998). Stability theory for hybrid dynamical systems. IEEE Transactions on Automatic Control, 43(4):461-474.
Download


Paper Citation


in Harvard Style

Peng K., Lin F. and Chen B. (2016). Autonomous Mission Management for Forest Search with Multiple Unmanned Aerial Vehicles . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-198-4, pages 385-392. DOI: 10.5220/0005949603850392


in Bibtex Style

@conference{icinco16,
author={Kemao Peng and Feng Lin and Ben M. Chen},
title={Autonomous Mission Management for Forest Search with Multiple Unmanned Aerial Vehicles},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2016},
pages={385-392},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005949603850392},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Autonomous Mission Management for Forest Search with Multiple Unmanned Aerial Vehicles
SN - 978-989-758-198-4
AU - Peng K.
AU - Lin F.
AU - Chen B.
PY - 2016
SP - 385
EP - 392
DO - 10.5220/0005949603850392