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Online Path Planning and Control Solution for a Coordinated Attack of Multiple Unmanned Aerial Vehicles in a Dynamic Environment

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Date Issued:
2012
Abstract/Description:
The role of the unmanned aerial vehicle (UAV) has significantly expanded in the military sector during the last decades mainly due to their cost effectiveness and their ability to eliminate the human life risk. Current UAV technology supports a variety of missions and extensive research and development is being performed to further expand its capabilities. One particular field of interest is the area of the low cost expendable UAV since its small price tag makes it an attractive solution for target suppression. A swarm of these low cost UAVs can be utilized as guided munitions or kamikaze UAVs to attack multiple targets simultaneously. The focus of this thesis is the development of a cooperative online path planning algorithm that coordinates the trajectories of these UAVs to achieve a simultaneous arrival to their dynamic targets. A nonlinear autopilot design based on the dynamic inversion technique is also presented which stabilizes the dynamics of the UAV in its entire operating envelope. A nonlinear high fidelity six degrees of freedom model of a fixed wing aircraft was developed as well that acted as the main test platform to verify the performance of the presented algorithms
Title: Online Path Planning and Control Solution for a Coordinated Attack of Multiple Unmanned Aerial Vehicles in a Dynamic Environment.
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Name(s): Vega-Nevarez, Juan, Author
Qu, Zhihua, Committee Chair
Haralambous, Michael, Committee Member
Xu, Yunjun, Committee Member
, Committee Member
University of Central Florida, Degree Grantor
Type of Resource: text
Date Issued: 2012
Publisher: University of Central Florida
Language(s): English
Abstract/Description: The role of the unmanned aerial vehicle (UAV) has significantly expanded in the military sector during the last decades mainly due to their cost effectiveness and their ability to eliminate the human life risk. Current UAV technology supports a variety of missions and extensive research and development is being performed to further expand its capabilities. One particular field of interest is the area of the low cost expendable UAV since its small price tag makes it an attractive solution for target suppression. A swarm of these low cost UAVs can be utilized as guided munitions or kamikaze UAVs to attack multiple targets simultaneously. The focus of this thesis is the development of a cooperative online path planning algorithm that coordinates the trajectories of these UAVs to achieve a simultaneous arrival to their dynamic targets. A nonlinear autopilot design based on the dynamic inversion technique is also presented which stabilizes the dynamics of the UAV in its entire operating envelope. A nonlinear high fidelity six degrees of freedom model of a fixed wing aircraft was developed as well that acted as the main test platform to verify the performance of the presented algorithms
Identifier: CFE0004613 (IID), ucf:49925 (fedora)
Note(s): 2012-12-01
M.S.E.E.
Engineering and Computer Science, Electrical Engr and Computing
Masters
This record was generated from author submitted information.
Subject(s): Unmmaned Aerial Vehicle -- UAV -- Path Planning -- Dynamic Inversion -- Nonlinear Autopilot
Persistent Link to This Record: http://purl.flvc.org/ucf/fd/CFE0004613
Restrictions on Access: public 2012-12-15
Host Institution: UCF

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