Environment Information Coherence in Multi-UAVs Cooperative Area Searching
Multiple Unmanned Aerial Vehicles (UAVs) area searching is an important research area in cooperative control. Firstly, a distributed control framework for multi-UAVs cooperative area searching is established. Based on search map model, the problem of information coherence for multi-UAVs area searching is proposed, the key elements and reasons which cause the information non-coherence are discussed and analyzed. Then to reduce the information error under global communication delay, a Kalman estimation based information non-coherence compensation method is presented. At last, simulation results demonstrate the validity of our approach.
UAV Area Searching Information Coherence Cooperative Control
PENG Hui ZHANG Qing-jie LI Yuan SHEN Lin-cheng
School of Mechanical Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
3115-3120
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）