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Cooperative pursuit guidance to surround intruder swarms using collision cones

Chakravarthy, A and Ghose, D (2020) Cooperative pursuit guidance to surround intruder swarms using collision cones. In: Journal of Aerospace Information Systems, 17 (8). pp. 454-469.

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Official URL: https://dx.doi.org/10.2514/1.I010790


This paper addresses the problem of n unmanned aerial vehicles (UAVs) pursuing a swarm of target UAVs moving on a plane. The target UAVs are assumed to be flying together as a flock. The flock is initially modeled as a circle whose radius can be time varying, and this is subsequently generalized to arbitrarily shaped swarms thatmay change in size. Capture is said to occur when the n pursuing UAVs have successfully enclosed the target swarm within their convex hull. In subsequent scenarios, the pursuing UAVs are assumed to be carrying a rope line in an open-chain configuration, and capture is said to occur when the pursuing UAVs have (in addition to enclosing the target UAV swarm within their convex hull) also ensured that their formation approaches the target at an appropriate orientation that corresponds with the open end of the rope line. The guidance laws are developed based on a collision cone framework, using which the pursuing UAVs can cooperatively steer the velocity vector of any point in their convex hull, to intercept the target. Analytical expressions of these nonlinear cooperative pursuit guidance laws that govern the acceleration commands of the UAVs are determined. Simulations are performed using kinematic models, and they demonstrate that the pursuing UAVs are able to successfully surround the target UAV swarm.

Item Type: Journal Article
Publication: Journal of Aerospace Information Systems
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: Antennas; Computational geometry; Kinematics; Rope, Analytical expressions; Convex hull; Guidance laws; Kinematic model; Open chain; Pursuit guidance laws; Time varying; Velocity vectors, Unmanned aerial vehicles (UAV)
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 21 Aug 2020 10:03
Last Modified: 21 Aug 2020 10:03
URI: http://eprints.iisc.ac.in/id/eprint/66392

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