Hybrid Dec-POMDP/PID Guidance System for Formation Flight of Multiple UAVs
Autor: | Bruno Rodolfo de Oliveira Floriano, Joao Y. Ishihara, Henrique C. Ferreira, Geovany A. Borges |
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Rok vydání: | 2021 |
Předmět: |
0209 industrial biotechnology
Computer science Mechanical Engineering Node (networking) Control (management) PID controller Partially observable Markov decision process ComputerApplications_COMPUTERSINOTHERSYSTEMS 02 engineering and technology Collision Industrial and Manufacturing Engineering Collision risk 020901 industrial engineering & automation Artificial Intelligence Control and Systems Engineering Control theory Electrical and Electronic Engineering Architecture Guidance system Software |
Zdroj: | Journal of Intelligent & Robotic Systems. 101 |
ISSN: | 1573-0409 0921-0296 |
Popis: | This paper proposes a guidance system with a new hybrid architecture for multiple fixed-wing unmanned aerial vehicles (UAVs) formation flight. The proposed architecture is hybrid in the sense of combining two control policies found in guidance systems: the Decentralized Partially Observable Markov Decision Process (Dec-POMDP) policy and the well-known PID controller. The Dec-POMDP policy part enables every UAV to avoid collision with any other UAV from the formation. The PID part is activated for regions far from the collision risk zone and is implemented in such a way that each UAV is completely controlled by only its own data, independent of its neighbors. The major novelty of the proposed system, compared to other hybrid approaches, is its decentralized nature which favors overcoming the usual problems that come with centralization such as the high dependence on a central decision node, a leader, or a ground station. Inherited from both parts, the overall system performance is robust in noisy and uncertain environments. Simulations were extensively performed to show the effectiveness of the proposed guidance system in distinct scenarios. |
Databáze: | OpenAIRE |
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