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Source Seeking of Multi-UAV Based on Extremum Seeking Algorithm
Shuo Zhuo 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
In this paper, a simple cooperative control strategy for multi-unmanned aerial vehicle (UAV) seeking the source of a scalar signal is developed. This strategy based on extremum seeking algorithm(ESA) and just takes the average of the environmental measurements of each agent as a demodulation signal for the ESA control loop to every UAV in the group. The scalar signal field may represent the strength of a spatially distributed signal. We assume that the signal field is the strongest at the source and decays away from it but the functional form of the field is not available to our UAVs. We point out that only rotocraft UAVs are developed as the flight platforms in this paper. It is also necessary to note that the ESA used in this paper is slightly different from the classic ESA,we call it non-steady state oscillation,which is obtained by adjusting the structure of the classical ESA to make the sinusoidal excitation signal amplitude proportional to the square of the extremum estimation error. The resulting method is efficient and precise. A simulation study involving 3 UAVs is used to verify the effectiveness of this method.
A Distributed Coverage Algorithm for Multi-UAV with Average Voronoi Partition
Sai Chen,Chaoyong Li,Shuo Zhuo 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
In this paper, we propose a distributed coverage algorithm for a group of UAVs to cover a convex region with average Voronoi partition which aims to ensure the areas of all Voronoi partitions are identical. The proposed algorithm iteratively updates the Voronoi partition through local information exchange with neighbors, and then moves along the computed direction. Different from existing results, the proposed algorithm could make the area difference infinitely small in theory to achieve indeed average area coverage. Simulation results are provided to illustrate the effectiveness of the proposed algorithm.
UAVs Cooperative Attack Based on Archimedes Spiral
Zhenming LI,Chaoyong Li,Shuo Zhuo,Sai Chen 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper investigates a control of track based on Archimedes spiral. The objective is to control UAVs (Unmanned Aerial Vehicle) circled to the target under the preset track and in a certain time interval. For the circumstance of the known location of start point and target point of UAV, we put forward a control method of angular velocity, with fixed velocity and trajectory of UAV. And in this control method, based on the nature of the Archimedes spiral, the time of UAV from the start point to the target point can be accurately calculated.