Journal article
Continuous Monitoring of a Path-Constrained Moving Target by Multiple Unmanned Aerial Vehicles
Journal of guidance, control, and dynamics, Vol.45(4), pp.704-713
11/15/2021
DOI: 10.2514/1.G006043
Abstract
In this work, a continuous monitoring scenario where multiple unmanned aerial vehicles are tasked to monitor a dynamic target moving along a path with unknown speed profile is addressed. Optimal trajectories based on the nominal trajectory of the target are generated offline. If changes in the speed profile of the target are detected, the agents’ trajectories can be modified online to ensure that the monitoring requirements are met, while still maintaining intervehicle safety guarantees. The time-coordination algorithm proposed as a solution to this problem is based on a leader–follower structure. The unmanned aerial vehicles are assumed to exchange information over a communication network where limited quality of service, switching topologies, and data package dropouts are considered. Finally, performance bounds and simulation results to prove the efficacy of our method are provided.
Details
- Title: Subtitle
- Continuous Monitoring of a Path-Constrained Moving Target by Multiple Unmanned Aerial Vehicles
- Creators
- Camilla TabassoCalvin‘ Kielas-JensenVenanzio CichellaSatyanarayana Manyam - Infoscitex Corp., a DCS Company, Dayton, Ohio 45431David W CasbeerIsaac Weintraub
- Resource Type
- Journal article
- Publication Details
- Journal of guidance, control, and dynamics, Vol.45(4), pp.704-713
- DOI
- 10.2514/1.G006043
- ISSN
- 1533-3884
- eISSN
- 1533-3884
- Grant note
- DOI: 10.13039/100000006, name: Office of Naval Research, award: grant N00014211209
- Language
- English
- Date published
- 11/15/2021
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984201544502771
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