Abstract
Here, we present a solution for safe switching amongst dynamic teams of autonomous vehicles. By team, we mean a collection of vehicles that have a common mission, or objective. The design of our solution involves a distributed hierarchical control architecture. It contains five levels that successively abstract the motion of a single vehicle into maneuvers, coordinated maneuvers, tasks and team objectives. We do this in the framework of dynamic networks of hybrid automata and sliding mode control. We establish an information interchange protocol that minimizes bandwidth use and ensures robustness in the switching process, yet allows for communications at all levels of the control architecture. We present results from simulations to demonstrate and implement these ideas.
Reference12 articles.
1. Liberzon
D.
, MorseA. S., 1999, “Basic problems in stability and design of switched systems,” IEEE Contr. Syst. Mag., 19, pp. 59–70.
2. J. Borges de Sousa, Anouck R. Girard and J. K. Hedrick. “Elemental Maneuvers and Coordination Structures for Unmanned Air Vehicles.” Proceedings of the 43rd IEEE Conference on Decision and Control, Paradise Island, The Bahamas, Dec 14–17, 2004.
3. Girard
A.
, Borges de SousaJ. and HedrickJ. K.. A Hierarchical Control Architecture for Mobile Offshore Bases. Marine Structures Journal, 13, No. 4–5, July 2000, pp. 459–476.
4. S.C. Spry, A.R. Girard and J.K. Hedrick. Convoy Protection using Multiple Unmanned Aerial Vehicles: Organization and Coordination. Accepted for Publication in the 2005 American Control Conference, ACC 2005.
5. Guler
Murat
, ClementsScott, WillsLinda M., HeckBonnie S., VachtsevanosGeorge J., 2003, “Transition Management for Reconfigurable Hybrid Control Systems.” IEEE Contr. Syst. Mag., 23, pp. 36–49.