Cognitive multi-UAV formation flight: Principle, low-cost UAV testbed, controller tuning and experiments

Proceedings of the ASME Design Engineering Technical Conference

Volumn 3, Issue PARTS A AND B, 2011, Pages 917-927

  Di, Long ^a   Chao, Haiyang ^a   Han, Jinlu ^a   Chen, Yangquan ^a  

^a Utah State University   (United States)

Author keywords

Cognitive formation flight; Cooperative control; Leader follower configuration; Unmanned aerial vehicle

Indexed keywords

CO-OPERATIVE CONTROL; CONTROL STRUCTURE; CONTROLLER TUNING; EXPERIMENTAL SETUP; FLIGHT CONTROLLERS; FLIGHT TEST; FORMATION FLIGHT; LEADER-FOLLOWER; MULTI UAV; UAV SYSTEMS;

DESIGN; UNMANNED AERIAL VEHICLES (UAV);

TESTBEDS;

EID: 84863574683     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC2011-47848     Document Type: Conference Paper

References (22)

1. Teo, R., Jang, J. S., and Tomlin, C. J., 2004. "Automated Multiple UAV flight - the Stanford Dragonfly UAV Program". In Proc. of 43rd IEEE Conference on Decision and Control. Atlantis, Paradise Island, Bahamas.
2. How, J., King, E., and Kuwata, Y., 2004. "Flight Demonstrations of Cooperative Control for UAV Teams". In AIAA 3rd "Unmanned Unlimited" Technical Conference, Workshop and Exhibit. Chicago, Illinois.
3. Michael, N., Mellinger, D., Lindsey, Q., and Kumar, V., 2010. "The GRASP Multiple Micro-UAV Testbed". IEEE Robotics and Automation Magazine, 17(3), pp. 56-65.
4. Shaw, E., Chung, H., Hedrick, J., and Sastry, S., 2007. Cooperative Systems: Control and Optimization, Vol. 588. Springer, ch. Unmanned Helicopter Formation Flight Experiment for the Study of Mesh Stability.
5. McLain, T. W., and Beard, R. W., 2004. "Unmanned Air Vehicle Testbed for Cooperative Control Experiments". In Proc. of the 2004 American Control Conference. Boston, Massachusetts.
6. Beard, R. W., McLain, T. W., Nelson, D. B., Kingston, D., and Johanson, D., 2006. "Decentralized Cooperative Aerial Surveillance using Fixed-wing Miniature UAVs". Proceedings of the IEEE, 94(7), pp. 1306-1324.
7. Yun, B., Chen, B. M., Lum, K. Y., and Lee, T. H., 2008. "A leader-Follower Formation Flight Control Scheme for UAV Helicopters". In Proc. of the IEEE International Conference on Automation and Logistics. Qingdao, China.
8. Chao, H., Jensen, A. M., Han, Y., and Chen, Y. Q., 2009. Geoscience and Remote Sensing. IN-TECH, ch. Ag-gieAir: Towards Low-cost Cooperative Multispectral Remote Sensing Using Small Unmanned Aircraft Systems, pp. 467-490.
9. Chao, H., Baumann, M., Jensen, A., Chen, Y., Cao, Y., Ren, W., and McKee, M., 2008. "Band-reconfigurable Multi-UAV-based Cooperative Remote Sensing for Realtime Water Management and Distributed Irrigation Control". In Proc. of the IFAC World Congress. Seoul, Korea.
10. Chao, H., and Chen, Y., 2010. "Surface Wind Profile Measurement Using Multiple Small Unmanned Aerial Vehicles". In Proc. of the 2010 American Control Conference, pp. 4133-4138. Baltimore, MD.
11. Chao, H., Luo, Y., Di, L., and Chen, Y. Q., 2010. "Roll- Channel Fractional Order Controller Design for a Small Fixed-Wing Unmanned Aerial Vehicle". Control Engineering Practice, 18(7), pp. 761-772.
12. Chen, Y., and Wang, Z., 2005. "Formation Control: A Review and A New Consideration". In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3664-3669. Edmonton, Canada.
13. Ren, W., and Beard, R. W., 2004. "Decentralized Scheme for Spacecraft Formation Flying via the Virtual Structure Approach". AIAA Journal of Guidance, Control, and Dynamics, 27(1), pp. 73-82.
14. Giulietti, F., Pollini, L., and Innocenti, M., 2001. "Formation Flight Control: A Behavioral Approach". In Proc. of the 2001 AIAA Guidance, Navigation, and Control Conference. Montreal, Canada.
15. Brisset, P., and Hattenberger, G., 2008. "Multi-UAV control with the Paparazzi system". In Proc. of the First Conference on Humans Operating Unmanned Systems (HU-MOUS'08). Brest, France.
16. Hattenberger, G., Alami, R., and Lacroix, S., 2006. "Planning and Control for Unmanned Air Vehicle Formation Flight". In Proc. of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, China.
17. Di, L., Fromm, T., and Chen, Y., 2011. "A Data Fusion System for Attitude Estimation of Low-cost Miniature UAVs". In Proc. of the 2011 International Conference on Unmanned Aircraft Systems. Denver, USA.
18. Di, L., Chao, H., and Chen, Y., 2010. "A Two-stage Calibration Method for Low-cost UAV Attitude Estimation Using Infrared Sensor". In Proc. of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, pp. 137-142. Qingdao, China.
19. DIYDRONE ArduIMU. http://diydrones.com/profiles/blogs/arduimu-now- available.
20. Premerlani, W., and Bizard, P. Direction Cosine Matrix IMU: Theory. http://gentlenav.googlecode.com/files/DCMDraft2.pdf.
21. Di, L., and Chen, Y., 2011. "Autonomous Flying Under 500 USD Based on RC Aircraft". In Proc. of 2011 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications. Accepted.
22. Brisset, P., Drouin, A., Gorraz, M., Huard, P. S., and Tyler, J., 2006. "The Paparazzi solution". In Proc. of MAV. Sandestin, Florida.