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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Lacroix, S., Jung, I.-K., Mallet, A.: Digital elevation map building from low altitude stereo imagery. In: Proceedings of the 9th International Symposium on Intelligent Robotic Systems, SIRS 2001, pp. 207–216 (2001)
Merino, L., Caballero, L., Martinez-de Dios, J.R., Ferruz, J., Ollero, A.: A cooperative perception system for multiple UAVs: Application to automatic detection of forest fires. Journal of Field Robotics 23(3-4), 165–184
Corke, P., Hrabar, P., Peterson, R., Rus, D., Saripalli, S., Sukhatme, G.: Autonomous Deployment and Repair of a Sensor Network using an Unmanned Aerial Vehicle. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), New Orleans, USA (2004)
Brock, O., Khatib, O.: High-speed navigation using the global dynamic window approach. In: Proc. ICRA, pp. 341–346 (1999)
Mikael, J.E., Jonathan, S.H., Jin, K., Sastry, S.: Implementing and Testing a Nonlinear Model Predictive Tracking Controller for Aerial Pursuit/Evasion Games on a Fixed Wing Aircraft. In: Proc. ACC (2005)
Craig, W., Flocks, R.: Herds and Schools. A Distributed Behavioral Model. In: ACM SIGGRAPH 1987 Conference Proceedings, Anaheim, California (July 1987)
Guibas, J., Latombe, S., LaValle, D.L., Motwani, R.: Visibility-based pursuit-evasion in a polygonal environment. Int. J. Computational Geometry and Applications 9(5), 471–494 (1999)
Vidal, R., Rashid, S., Sharp, C., Shakernia, O., Kim, J., Sastry, S.: Pursuit-evasion games with unmanned ground and aerial vehicles. In: IEEE Int. Conf. Robot and Automation, pp. 2948–2955 (2001)
Vidal, R., Shakernia, O., Kim, J., Shim, D.H., Sastry, S.: Probabilistic pursuit-evasion games: theory implementation and experimental evaluation. IEEE Trans. Robotics and Automation 18(5), 662–669 (2002)
Kim, C.J., Vidal, R., Shim, H., Shakernia, O., Sastry, S.: A hierarchical approach to probabilistic pursuit-evasion games with unmanned ground and aerial vehicles. In: Proc. 40th IEEE Conf. Decision and Control, pp. 634–639 (2001)
Han, T.-R.: Realistic Behavior Model for Bird, Autonomous Agent. COMPSCI 780 Summer Project, University of Auckland, Auckland, pp. 15–28
Kaliappan, V.K., Yong, H., Min, D., Budiyono, A.: Intelligent Control Multi-Layered Architecture for small scale unmanned helicopter. Paper submitted to Journal of Aerospace Engineering (2011)
Hartman, C., Benes, B.: Autonomous boids. Computer Animation and Virtual Worlds 17, 199–206 (2006)
Kim, S.P., Kim, E.T.: A Point Navigation Guidance Law for Unmanned Helicopter. In: UKC 2006 Conference, New Jersey, USA (2006)
Kim, S.P., Budiyono, A., Lee, J.H., Kim, D.H., Yoon, K.J.: Control System Design and Testing for a Small Scale Autonomous Helicopter. Journal of Aircraft Engineering and Aerospace Technology 82(6), 353–359 (2010)
Kaliappan, V.K., Yong, H., Min, D., Budiyono, A.: Behavior based approach for obstacle detection and avoidance of a small scale helicopter. Paper submitted to Journal of aerospace science and technology (2011)
Budiyono, A., Putro, I.E., Yoon, K., Raharja, G.B., Kim, G.B.: Real-time hardware simulation of a small-scale helicopter dynamics. Aircraft Engineering and Aerospace Technology: An International Journal, 360–371 (2010)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Kaliappan, V.K., Yong, H., Budiyono, A., Min, D. (2011). Linear Velocity Based Predictive Control Design and Experiment for Pursuit-Evasion of a Multiple Small Scale Unmanned Helicopter. In: Lee, G., Howard, D., Ślęzak, D. (eds) Convergence and Hybrid Information Technology. ICHIT 2011. Lecture Notes in Computer Science, vol 6935. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-24082-9_64
Download citation
DOI: https://doi.org/10.1007/978-3-642-24082-9_64
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-24081-2
Online ISBN: 978-3-642-24082-9
eBook Packages: Computer ScienceComputer Science (R0)