Dhananjay, N and Kristiansen, R (2012) Guidance strategy for gradient search by multiple UAVs. In: AIAA Guidance, Navigation, and Control Conference 2012, 13-16 August 2012, Minneapolis,United States.
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Abstract
In this paper a UAV guidance law for tracking circular paths based on proportional navigation is developed. It is shown that when gradient information is available, the UAV an perform a gradient descent search operation in a given area of interest by suitably electing its heading direction. The guidance law is further extended to cooperating muliple UAVs. Using repulsive potential functions, it is shown that the UAVs can locate multiple maxima/minima in the search region. A complete Lyapunov stability analysis of he guidance law in the horizontal plane is performed to prove asymptotic stability for all nitial conditions. Numerical simulations are presented to show the circular path tracking and gradient search capability of the guidance law.
Item Type: | Conference Paper |
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Publication: | AIAA Guidance, Navigation, and Control Conference 2012 |
Publisher: | American Institute of Aeronautics and Astronautics Inc. |
Additional Information: | The copyright of this article belongs to American Institute of Aeronautics and Astronautics Inc. |
Keywords: | Asymptotic stability; Gradient methods; Navigation; Unmanned aerial vehicles (UAV), Area of interest; Gradient informations; Guidance strategy; Heading directions; Lyapunov stability analysis; Proportional navigation; Repulsive potentials; Search operations, Aircraft detection |
Department/Centre: | Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering) |
Date Deposited: | 27 Aug 2020 10:46 |
Last Modified: | 27 Aug 2020 10:46 |
URI: | http://eprints.iisc.ac.in/id/eprint/66290 |
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