Title
Behavior-Based Control Hierarchy Of Unmanned Aerial Vehicle Swarming
Keywords
Behavior-based control; Hierarchy; Swarming; Switching mechanism
Abstract
Although there are many advantages associated with UAVs, the production cost as well as operation cost of one of today's military UA V's is an overwhelming problem. In this paper, a more basic and fundamental approach to controlling a mission of UAVs is proposed. Based on a combination of low-level behaviors, a swarming hierarchy is derived from three levels of behaviors: basic, individual and group. The proposed hierarchy enables multiple UAVs to successfully conduct a mission using a condition-based switching mechanism and relying on local interactions between each other and with minimal interactions with human controllers who only intervene when coordinating the mission-level actions [1], From an analytical model of a point mass UAV in a 2D environment where mass, air drag force, initial speed and gravitational acceleration are constant and the only controls for the UAV are the thrust force and its banking angle, several behavior combinations are simulated in order to obtain a family of feasible solutions. The results achieved suggest that the above mentioned condition-based switching mechanism can be used and eventually applied to actual UAVs. © 2006 IEEE.
Publication Date
12-22-2006
Publication Title
Proceedings of the 2006 International Symposium on Collaborative Technologies and Systems, CTS 2006
Volume
2006
Number of Pages
349-355
Document Type
Article; Proceedings Paper
Personal Identifier
scopus
DOI Link
https://doi.org/10.1109/CTS.2006.21
Copyright Status
Unknown
Socpus ID
33845578906 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/33845578906
STARS Citation
Pamphile, Thieny and Lin, Kuo Chi, "Behavior-Based Control Hierarchy Of Unmanned Aerial Vehicle Swarming" (2006). Scopus Export 2000s. 7497.
https://stars.library.ucf.edu/scopus2000/7497