無人航空機編隊における機体損失時の適応戦略
Adaptation Strategy for a Distributed Autonomous UAV Formation in Case of Aircraft Loss
分散型自律UAV編隊で1機が失われた際の動態への悪影響を補償する適応アルゴリズムを提案し、非線形シミュレーションで巡航速度増加を完全に解消できることを示した。
著者: Tagir Muslimov
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Controlling a distributed autonomous unmanned aerial vehicle (UAV) formation is usually considered in the context of recovering the connectivity graph should a single UAV agent be lost. At the same time, little focus is made on how such loss affects the dynamics of the formation as a system. To compensate for the negative effects, we propose an adaptation algorithm that reduces the increasing interaction between the UAV agents that remain in the formation. This algorithm enables the autonomous system to adjust to the new equilibrium state. The algorithm has been tested by computer simulation on full nonlinear UAV models. Simulation results prove the negative effect (the increased final cruising speed of the formation) to be completely eliminated.