Linear velocity based predictive control design and experiment for pursuit-evasion of a multiple small scale unmanned helicopter

Authors:
Vishnu Kumar Kaliappan;Hanmaro Yong;Agus Budiyono;Dugki Min
Affiliations:
School of Computer Science and Engineering, Konkuk University, Seoul, South Korea;School of Computer Science and Engineering, Konkuk University, Seoul, South Korea;School of Aerospace Engineering, Konkuk University, Seoul, South Korea;School of Computer Science and Engineering, Konkuk University, Seoul, South Korea
Venue:
ICHIT'11 Proceedings of the 5th international conference on Convergence and hybrid information technology
Year:
2011

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Abstract

In this paper, linear velocity based predictive control of unmanned aerial vehicle (UAV) for pursuit-evasion scenario is presented. The issues of multi-UAV control system are resolved with distributed control structure, to control and coordination multiple pursuers. The group operation of UAV's is realized by decentralized linear velocity predictor control, which interacts with other UAV through communication system. In this research Reynold's biologically inspired steering behavior model has been utilized. The proposed algorithm is implemented on JR Voyager G-260 small scale helicopter controller and tested with HILS (Hardware-In-the-Loop Simulation). With the multiple UAV's the variety of test from waypoint to pursuit-evasion is taken to demonstrate the effectiveness of our approach.