지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2014.10
- 수록면
- 1,175 - 1,180 (6page)
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초록· 키워드
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This work tackles the problem of integrating a pursuit-evasion game (PEG) in a recursive nested behavioral control (RNBC) structure for unmanned aerial vehicles (UAV). The UAV agents’ architecture is the RNBC structure, considering that the collision avoidance, velocity control and attitude control are already implemented behaviors in this structure. The new high-level behaviors pursuit and evasion are introduced, describing the PEG and providing an appropriate reference velocity vector for the underlying layers of the RNBC structure of the pursuer and the evader, respectively. The reference velocities for the agents are determined by solving the pursuit-evasion problem in a game-theoretical manner, while collision avoidance behavior is implemented one level below. The repulsion force approach is used as collision avoidance technique and provides a velocity vector, which is added to the reference velocity vector of the upper level, if there is a collision risk. The resulting reference input is processed by the subjacent layers in the RNBC structure of the UAV. In simulations it is shown that this approach provides a collision-free pursuit-evasion between UAV agents with dynamic constraints in a general three-dimensional environment with previously unknown obstacles.
목차
Abstract
1. INTRODUCTION
2. PROBLEM STATEMENT AND SOLUTION APPROACH
3. SYSTEM DESCRIPTION
4. RNBC STRUCTURE FOR UAV AGENTS
5. SIMULATION RESULTS
6. CONCLUSION
REFERENCES
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