Environment information coherence in multi-UAVs cooperative area searching

Authors:
Hui Peng;Qing-Jie Zhang;Yuan Li;Lin-Cheng Shen
Affiliations:
School of Mechanical Engineering and Automation, National Univ. of Defense Technology, Changsha, China;School of Mechanical Engineering and Automation, National Univ. of Defense Technology, Changsha, China;School of Mechanical Engineering and Automation, National Univ. of Defense Technology, Changsha, China;School of Mechanical Engineering and Automation, National Univ. of Defense Technology, Changsha, China
Venue:
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
Year:
2009

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ICIC '08 Proceedings of the 4th international conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications - with Aspects of Theoretical and Methodological Issues
Balancing search and target response in cooperative unmanned aerial vehicle (UAV) teams

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Abstract

Multiple Unmanned Aerial Vehicles (UAVs) area searching is an important research area in cooperative control. Firstly, a distributed control framework for multi-UAVs cooperative area searching is established. Based on search map model, the problem of information coherence for multi-UAVs area searching is proposed, the key elements and reasons which cause the information non-coherence are discussed and analyzed. Then to reduce the information error under global communication delay, a Kalman estimation based information non-coherence compensation method is presented. At last, simulation results demonstrate the validity of our approach.