Developing a Control Architecture for Multiple Unmanned Aerial Vehicles to Search and Localize RF Time-Varying Mobile Targets: Part I

D. Pack, G. York
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引用次数: 48

Abstract

In this paper, we present a control architecture that allows multiple Unmanned Aerial Vehicles (UAVs) to cooperatively detect mobile RF (Radio Frequency) emitting ground targets. The architecture is developed under the premise that UAVs are controlled as a distributed system. The distributed system-based technique maximizes the search and detection capabilities of multiple UAVs. We use a hybrid approach that combines a set of intentional cooperative rules with emerging properties of a swarm to accomplish the objective. The UAVs are equipped only with low-precision RF direction finding sensors and we assume the targets may emit signals randomly with variable duration. Once a target is detected, each UAV optimizes a cost function to determine whether to participate in a cooperative localization task. The cost function balances between the completion of detecting all targets (global search) in the search space and increasing the precision of cooperatively locating already detected targets. A search function for each UAV determines the collective search patterns of collaborating UAVs. Two functions used by each UAV determine (1) the optimal number of UAVs involved in locating targets, (2) the search pattern to detect all targets, and (3) the UAV flight path for an individual UAV. We show the validity of our algorithm using simulation results. Hardware implementation of the strategies is planned for this coming year.
开发多架无人机搜索和定位射频时变移动目标的控制体系结构:第一部分
在本文中,我们提出了一种允许多架无人机(uav)协作检测移动射频(RF)发射地面目标的控制体系结构。该体系结构是在无人机作为分布式系统进行控制的前提下开发的。基于分布式系统的技术最大限度地提高了多架无人机的搜索和探测能力。我们使用一种混合方法,将一组有意的合作规则与群体的新兴属性相结合,以实现目标。无人机仅配备低精度射频测向传感器,并假设目标可能随机发射可变持续时间的信号。一旦检测到目标,每架无人机优化成本函数以确定是否参与协同定位任务。代价函数在搜索空间中完成对所有目标的检测(全局搜索)和提高对已检测目标的协同定位精度之间取得平衡。每个无人机的搜索功能确定协作无人机的集体搜索模式。每架无人机使用的两个功能确定(1)参与目标定位的最佳无人机数量,(2)检测所有目标的搜索模式,以及(3)单个无人机的无人机飞行路径。仿真结果表明了算法的有效性。这些战略的硬件实施计划在明年进行。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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