期刊
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
卷 39, 期 4, 页码 959-970出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCB.2008.2010865
关键词
Cooperative; distributed control; localization; unmanned aerial vehicles (UAVs)
Compared with a single platform, cooperative autonomous unmanned aerial vehicles (UAVs) offer efficiency and robustness in performing complex tasks. Focusing on ground mobile targets that intermittently emit radio frequency signals, this paper presents a decentralized control architecture for multiple UAVs, equipped only with rudimentary sensors, to search, detect, and locate targets over large areas. The proposed architecture has in its core a decision logic which governs the state of operation for each UAV based on sensor readings and communicated data. To support the findings, extensive simulation results are presented, focusing primarily on two success measures that the UAVs seek to minimize: overall time to search for a group of targets and the final target localization error achieved. The results of the simulations have provided support for hardware flight tests.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据