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COOPERATIVE CONTROL FOR MULTIPLE AUTONOMOUS UAV's SEARCHING FOR TARGETS IN AN UNCERTAIN ENVIRONMENT

FLINT, MATTHEW D.
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1021923726

Abstract Details

2002, MS, University of Cincinnati, Engineering : Electrical Engineering.
The work presented here is part of a research program being conducted in the area of decision and control for autonomous unmanned aerial vehicles (UAV’s). Speci.cally, the formulation is presented for the problem of generating near-optimal trajectories to follow in order for several UAV’s to cooperatively search for targets in a given area for which some a priori data about target distribution is available. In order to solve this problem, a discrete time decision model is created. The solution based on this model is presented, which utilizes a dynamic programming approach, implemented with a best-.rst search algorithm. This solution predicts the best path for individual vehicles to take under constraints on movement and computational power. A key reduction in computational complexity as compared to the ideal case is made by utilizing a limited look-ahead policy and by modeling other vehicles as stochastic elements. The formulation is .exible enough to respond to additional goals and restrictions, also. A set of simulation studies is provided that shows the utility of this approach. The proposed method is demonstrated against a standard search, and another method that currently exists in the literature.
Dr. Marios Polycarpou (Advisor)
77 p.
cooperative control; autonomous air vehicles; autonomous search; decision and control

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Citations

  • FLINT, M. D. (2002). COOPERATIVE CONTROL FOR MULTIPLE AUTONOMOUS UAV's SEARCHING FOR TARGETS IN AN UNCERTAIN ENVIRONMENT [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1021923726

    APA Style (7th edition)

  • FLINT, MATTHEW. COOPERATIVE CONTROL FOR MULTIPLE AUTONOMOUS UAV's SEARCHING FOR TARGETS IN AN UNCERTAIN ENVIRONMENT. 2002. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1021923726.

    MLA Style (8th edition)

  • FLINT, MATTHEW. "COOPERATIVE CONTROL FOR MULTIPLE AUTONOMOUS UAV's SEARCHING FOR TARGETS IN AN UNCERTAIN ENVIRONMENT." Master's thesis, University of Cincinnati, 2002. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1021923726

    Chicago Manual of Style (17th edition)

ucin1021923726
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© 2002, all rights reserved.
This open access ETD is published by University of Cincinnati and OhioLINK.