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Coordinated target assignment and intercept for unmanned air vehicles

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4 Author(s)
Beard, R.W. ; Electr. & Comput. Eng. Dept., Brigham Young Univ., Provo, UT, USA ; McLain, T.W. ; Goodrich, M.A. ; Anderson, E.P.

Presents an end-to-end solution to the cooperative control problem represented by the scenario where M unmanned air vehicles (UAVs) are assigned to transition through N known target locations in the presence of dynamic threats. The problem is decomposed into the subproblems of: 1) cooperative target assignment; 2) coordinated UAV intercept; 3) path planning; 4) feasible trajectory generation; and 5) asymptotic trajectory following. The design technique is based on a hierarchical approach to coordinated control. Simulation results are presented to demonstrate the effectiveness of the approach.

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Robotics and Automation, IEEE Transactions on  (Volume:18 ,  Issue: 6 )