Abstract
In this paper, a semi-autonomous control method is discussed for remote operation of multiple aerial vehicles through teleoperation to perform a task of pursuing multiple targets. The UAV team is formed by different automated aircrafts. A potential field algorithm is employed to implement a leader-follower formation control approach to guide the team of UAVs. A leader is selected and teleoperated by a human operator while all other UAVs follow the leader autonomously in a formation. An algorithm for paring the UAVs and targets is derived from an auction algorithm for a multi-task multi-target case, which optimizes effects-based vehicle-task-target pairing based on a heuristic algorithm. The pairing method produces a weighted attack guidance table (WAGT), which includes the benefits of assignments of intelligent combinations of tasks and targets. Finally, simulation studies were performed to illustrate the efficacy of the developed control method and highlight the improvement of the teleoperation of the UAVs in terms of task efficiency.
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Chung, J. (2015). Cooperative Control of UAVs Using a Single Master Subsystem for Multi-task Multi-target Operations. In: Kim, JH., Yang, W., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 3. Advances in Intelligent Systems and Computing, vol 345. Springer, Cham. https://doi.org/10.1007/978-3-319-16841-8_19
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DOI: https://doi.org/10.1007/978-3-319-16841-8_19
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-16840-1
Online ISBN: 978-3-319-16841-8
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