Decentralized Control of Multiple UAVs for Perimeter and Target Surveillance Decentralized Control of Multiple UAVs for Perimeter and Target Surveillance
The primary contributions of this research are the development and analysis of decentralized algorithms for perimeter and target surveillance. We pose the cooperative perimeter surveillance problem and offer a decentralized solution that accounts for perimeter growth (expanding or contracting) and insertion/deletion of team members. By identifying and sharing the critical coordination information and by exploiting the known communication topology, only a small communication range is required for accurate performance. Convergence of the algorithm to the optimal configuration is proven to occur in finite-time. Simulation and hardware results are presented that demonstrate the applicability of the solution.
For single target surveillance, a team of UAVs angularly spaced (i.e. in the splay state configuration) provides the best coverage of the target in a wide variety of circumstances. We propose a decentralized algorithm to achieve the splay state configuration for a team of UAVs tracking a moving target and derive the allowable bounds on target velocity to generate a feasible solution as well as show that, near equilibrium, the overall system is exponentially stable. Monte Carlo simulations indicate that the surveillance algorithm is asymptotically stable for arbitrary initial conditions. We conclude with high fidelity simulation and actual flight tests to show the applicability of the splay state controller to unmanned air systems.
School:Brigham Young University
School Location:USA - Utah
Source Type:Master's Thesis
Keywords:cooperative control uav unmanned air vehicle decentralized surveillance consensus splay state perimeter coordination variables cmte
Date of Publication:07/20/2007