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Hybrid Computing Techniques for Collaborative Control of UCAVs

[+] Author Affiliations
Randy C. Hoover, Marco P. Schoen, D. Subbaram Naidu

Idaho State University

Paper No. IMECE2005-80144, pp. 151-160; 10 pages
doi:10.1115/IMECE2005-80144
From:
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME

abstract

This paper presents a new approach to collaborative control of multiple Uninhabited Combat Aerial Vehicles (UCAVs) using hybrid soft and hard computing techniques. The approach develops a hierarchical architecture, which consists of four separate layers. The first layer describes the navigational system responsible for mission planning/re-planning, target priority, target distribution among individual UCAVs, and communication/collaboration between all UCAVs in the battlefield. The second layer describes the sensor fusion/definition on each individual UCAV. The third layer describes a fuzzy interpretation system (FIS) in which static and dynamic threat avoidance, and real-time path planning are outlined. The fourth and final layer contains the individual UCAV plant dynamics, autopilot, and navigation subsystem which accepts heading, altitude, and velocity commands. Extensive simulations are given to validate the proposed approach for any number of UCAVs flying in the battlefield.

Copyright © 2005 by ASME

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