A Unified Framework for Multi- UAV Cooperative Control based on Partial Differential Equations
| Main Author: | |
|---|---|
| Language: | English |
| Published: |
University of Cincinnati / OhioLINK
2019
|
| Subjects: | |
| Online Access: | http://rave.ohiolink.edu/etdc/view?acc_num=ucin1554475603011835 |
| id |
ndltd-OhioLink-oai-etd.ohiolink.edu-ucin1554475603011835 |
|---|---|
| record_format |
oai_dc |
| spelling |
ndltd-OhioLink-oai-etd.ohiolink.edu-ucin15544756030118352021-08-03T07:10:08Z A Unified Framework for Multi- UAV Cooperative Control based on Partial Differential Equations Radmanesh, Mohammadreza Mechanical Engineering Cooperative Agents UAV Decentralized Control Partial Differential Equantion Trajectory Planning Multi-UAV systems are inherently safety-critical systems, which means that safety guarantees must be made to ensure no undesirable configurations, such as collisions, occur. This dissertation focuses on developing optimization algorithms for trajectory planning of single as well as multiple cooperating Unmanned Air Vehicles (UAVs) operating in a cluttered environment that comprise of stationary obstacles and other cooperating as well as non-cooperating moving vehicles. This dissertation presents a Partial Differential Equation (PDE) based generalized method for UAV trajectory planning in a three-dimensional world using a number benchmark multi-UAV cooperative control problems. The PDEs proposed in this dissertation are based on the dynamics governing the multi-phase fluid motion in a porous medium. The method introduces a risk value representing the risk of collision or other hazard associated with every point in the domain. That risk value represents the notion of porosity (permeability) used in fluid flowing through a porous medium. This value is used in the PDE whose solution is obtained via novel numerical methods to calculate the streamlines that constitute the potential paths from a starting point to a target location. In particular, this research proposes a machine learning technique to decrease the computational time for calculations of flow movements in porous medium to 0.7 seconds which leads this technique to be implemented on-board and online. Subsequently, based on the criteria of the optimization problem, we propose post-processing of the streamlines to yield all the flyable paths. The proposed controller, based on multi-phase flows, is executed with a new decentralized manner using a concept of Prediction Sets (PSs). This method has been applied to three different cooperative control problems. IN first problem, large-scale path planning problem of UAVs is considered in shared airspace. The method is qualitatively compared via a simulation study to two other path planning strategies, centralized (using the analogy of multi-phase flow in porous medium) and sequential planning. Furthermore, this method is implemented numerically and experimentally to evaluate the scalablility and computational requirement in a swarm of UAVs. For second problem, this method is implemented on UAVs equipped with gimbals to obtain 6 Degree-of-Freedom (DOF), position and attitude, control to cooperatively tracking a ground maneuvering target using the concept of Model Predictive Control (MPC). Finally, the third problem considered is that of the Active Target Defense problem where a team of target and defender tries to intercept an attacker aiming to capture the target. 2019-08-02 English text University of Cincinnati / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=ucin1554475603011835 http://rave.ohiolink.edu/etdc/view?acc_num=ucin1554475603011835 unrestricted This thesis or dissertation is protected by copyright: some rights reserved. It is licensed for use under a Creative Commons license. Specific terms and permissions are available from this document's record in the OhioLINK ETD Center. |
| collection |
NDLTD |
| language |
English |
| sources |
NDLTD |
| topic |
Mechanical Engineering Cooperative Agents UAV Decentralized Control Partial Differential Equantion Trajectory Planning |
| spellingShingle |
Mechanical Engineering Cooperative Agents UAV Decentralized Control Partial Differential Equantion Trajectory Planning Radmanesh, Mohammadreza A Unified Framework for Multi- UAV Cooperative Control based on Partial Differential Equations |
| author |
Radmanesh, Mohammadreza |
| author_facet |
Radmanesh, Mohammadreza |
| author_sort |
Radmanesh, Mohammadreza |
| title |
A Unified Framework for Multi- UAV Cooperative Control based on Partial Differential Equations |
| title_short |
A Unified Framework for Multi- UAV Cooperative Control based on Partial Differential Equations |
| title_full |
A Unified Framework for Multi- UAV Cooperative Control based on Partial Differential Equations |
| title_fullStr |
A Unified Framework for Multi- UAV Cooperative Control based on Partial Differential Equations |
| title_full_unstemmed |
A Unified Framework for Multi- UAV Cooperative Control based on Partial Differential Equations |
| title_sort |
unified framework for multi- uav cooperative control based on partial differential equations |
| publisher |
University of Cincinnati / OhioLINK |
| publishDate |
2019 |
| url |
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1554475603011835 |
| work_keys_str_mv |
AT radmaneshmohammadreza aunifiedframeworkformultiuavcooperativecontrolbasedonpartialdifferentialequations AT radmaneshmohammadreza unifiedframeworkformultiuavcooperativecontrolbasedonpartialdifferentialequations |
| _version_ |
1719455393973796864 |