Surveillance Using Multiple Unmanned Aerial Vehicles
AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING AND MANAGEMENT
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This study examines the performance and limitations of a heuristic cooperative control CC surveillance algorithm for multiple unmanned aerial vehicles UAVs under both simulation and demonstration. The algorithm generates Dubins based paths and provides velocity feedback to accomplish simultaneous arrival onto a surveillance orbit around the target and maintains position while orbiting. The CC algorithm has two modes one that generates commands to multiple UAVs for simultaneous arrival to a surveillance orbit, and one that maintains equal angular spacing about the orbit. In addition to positional performance metrics, percentage of target in-view time was also measured based on the UAVs side camera field of view FOV. Simulation tested both modes under wind conditions of 0, 10, 25, and 50 of the nominal airspeed Vnom. Results showed that the algorithm maintained UAV position with winds 25 of Vnom, but instabilities appeared at 50 where large overshoots appeared on the downwind side of the orbit. Target visibility was most impacted by crosstrack errors that steadily grew with increasing winds. Roll of the UAV showed the greatest impact on the FOV due to its coupling effect with crosstrack error. Overall target in-view time also improved with increasing numbers of UAVs for all wind conditions.
- Pilotless Aircraft