Development of a Decentralized Cooperative Control Technique for Collision Avoidance of Unmanned Helicopters
Wednesday, May 06, 2015: 1:30 PM - 2:00 PM
Collision avoidance is a safety mechanism to be essentially embedded in the control structure of teams of unmanned systems. This is particularly important when the team is involved in cooperative tasks in which the team members should move with a relatively close distance. This session addresses an advance decentralized control structure for the collision avoidance of autonomous unmanned helicopters. The proposed control structure consists of an efficient symbolic motion planning mechanism for a team of unmanned helicopters in a partitioned motion space. Here, collision avoidance is considered as a safety property to be cooperatively satisfied by the team members. This safety requirement is decomposed into local specifications, and then, local supervisors are designed to decentralizedly control each helicopter while it can be guaranteed that the collision avoidance as a global specification is achieved. The developed top-down control technique is embedded in the control structure of unmanned helicopters that are involved in a formation mission. Hardware-in-the-loop simulations and actual flight test results will be presented to demonstrate the effectiveness of the algorithm.