Cooperative Control of Multiple UAVs for Source Seeking

Authors:
Senqiang Zhu;Danwei Wang;Chang Boon Low
Affiliations:
School of EEE, Nanyang Technological University, Singapore, Singapore 639798;School of EEE, Nanyang Technological University, Singapore, Singapore 639798;DSO National Laboratories, INFO Division, Manned-Unmanned Programme, Singapore, Singapore 117510
Venue:
Journal of Intelligent and Robotic Systems
Year:
2013

Citing 4
Cited 5

Brief paper: Nonlinear filtering in target tracking using cooperative mobile sensors

Automatica (Journal of IFAC)
Brief paper: Navigation of a unicycle-like mobile robot for environmental extremum seeking

Automatica (Journal of IFAC)
Brief paper: Range-only measurements based target following for wheeled mobile robots

Automatica (Journal of IFAC)
Vector Field Path Following for Miniature Air Vehicles

IEEE Transactions on Robotics

Adaptive Neural Control of a Hypersonic Vehicle in Discrete Time

Journal of Intelligent and Robotic Systems
Iterative Consensus for a Class of Second-order Multi-agent Systems

Journal of Intelligent and Robotic Systems
Command Filter Based Robust Nonlinear Control of Hypersonic Aircraft with Magnitude Constraints on States and Actuators

Journal of Intelligent and Robotic Systems
Cooperative Control of Multiple UAVs for Moving Source Seeking

Journal of Intelligent and Robotic Systems
Multiple UAV Formations for Cooperative Source Seeking and Contour Mapping of a Radiative Signal Field

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper considers the problem of unknown scalar field source seeking using multiple UAVs subject to input constraints. In this problem, each UAV can only measure the scalar field value at its current location. In order to seek the scalar field source, cooperation of multiple UAVs is carried out by adopting a leader-follower formation strategy. A least squares method is introduced to estimate the gradient of the scalar field at the leader UAV location based on the measurements of all UAVs. By using the estimated gradient, this paper proposes a guidance law for the heading of the leader UAV, and a sliding mode based heading rate controller is designed for the leader UAV to follow the desired heading angle. Furthermore, a heading rate controller is developed for each follower UAV to achieve circular formation around the leader UAV. Finally, simulation results are provided to demonstrate the effectiveness of the proposed approach.