Rendezvous of Multiple UAVs with Collision Avoidance Using Consensus

Manathara, Joel George and Ghose, Debasish (2012) Rendezvous of Multiple UAVs with Collision Avoidance Using Consensus. In: JOURNAL OF AEROSPACE ENGINEERING, 25 (4). pp. 480-489.

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Abstract

This paper addresses the problem of multiple unmanned aerial vehicle (UAV) rendezvous when the UAVs have to perform maneuvers to avoid collisions with other UAVs. The proposed solution consists of using velocity control and a wandering maneuver, if needed, of the UAVs based on a consensus among them on the estimated time of arrival at the point of the rendezvous. This algorithm, with a slight modification is shown to be useful in tracking stationary or slowly moving targets with a standoff distance. The proposed algorithm is simple and computationally efficient. The simulation results demonstrate the efficacy of the proposed approach. DOI: 10.1061/(ASCE)AS.1943-5525.0000145. (C) 2012 American Society of Civil Engineers.

Item Type:	Journal Article
Publication:	JOURNAL OF AEROSPACE ENGINEERING
Publisher:	ASCE-AMER SOC CIVIL ENGINEERS
Additional Information:	Copyright for this article belongs to ASCE-AMER SOC CIVIL ENGINEERS,USA
Keywords:	Multiple UAV;Rendezvous;Collision avoidance;Consensus
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	13 Feb 2013 10:37
Last Modified:	13 Feb 2013 10:37
URI:	http://eprints.iisc.ac.in/id/eprint/45794

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