A Hierarchical and Prioritized Framework in Coordinated Maneuver of Multiple UAVs Based on Guidance Regulator

Hassan Haghighi,Mohammad Mehdi Dehghan,Seyed Hossein Sadati,Jalal Karimi

doi:10.5028/jatm.v11.999

Abstract

The structure of mission management and maneuver planning for multiple UAVs in close formation flight is investigated. This article provides a distributed and priority-based platform of guidance and control model to meet requirements for each coordinated maneuver. To accomplish the coordinated maneuvers of multiple UAVs, some levels of hierarchy from mission planning to accurate guidance law are presented. The main focuses have been on the structure of equations and vicinity pattern to avoid a probable collision during maneuver so the high-level decision-maker can integrate all irregularities and solve them at the same time. Unlike complex control systems, the proposed algorithm provides outstanding following performance and inherent collision avoidance pattern due to prioritized tracking. The results show the admissible performance of the framework designed for implementing coordinated maneuvers due to its lower collision probability and noise resistance. According to the simulations, this method also resolves irregularity and disarrangements in the close formation flights and tracking media.

Highlights

Unmanned aerial vehicle (UAV) systems are becoming increasingly important as being capable of performing hazardous tasks which have been previously performed by manned planes and the efforts spent on human labor and economic cost can be reduced
Park et al (2004) explained the results for PD/PID and nonlinear guidance logic (NGL) method, so we show the results of Proportional guidance (PN) and Pure pursuit (PP) on his output figures
MANEUVER RESULTS In this article, a six-degrees-of-freedom Aerosonde UAV model is used for coordinated maneuver

Summary

Introduction

Unmanned aerial vehicle (UAV) systems are becoming increasingly important as being capable of performing hazardous tasks which have been previously performed by manned planes and the efforts spent on human labor and economic cost can be reduced. The problem of an autonomous formation flight of UAV has been widely studied. The aerodynamic benefits of formation flight, close formation flight, have been more studied (Zhang and Liu 2017). The investigation of control issues related to a leader-wingman formation has led to the introduction of different compensation type controllers (Wang and Wang 2017). Oh et al (2015) addressed dynamic modeling and formation flight control considering aerodynamic effects due to the vortices. Xue and Cai (2016) proposed a formation flight control scheme based on the concept of formation geometry center, known as the formation virtual leader with communication constraints. Yang et al (2004) and Min and Tahk (2005) addressed the formation-keeping control problem for the three-dimensional autonomous formation flight Xue and Cai (2016) proposed a formation flight control scheme based on the concept of formation geometry center, known as the formation virtual leader with communication constraints. Yang et al (2004) and Min and Tahk (2005) addressed the formation-keeping control problem for the three-dimensional autonomous formation flight

Objectives

Results

Conclusion