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首页> 外文学位 >Coordinated rendezvous and surveillance for multiple Unmanned Aerial Vehicles (UAVs) subject to actuator and sensor faults.
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Coordinated rendezvous and surveillance for multiple Unmanned Aerial Vehicles (UAVs) subject to actuator and sensor faults.

机译：受到执行器和传感器故障影响的多架无人机（UAV）的协调会合和监视。

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摘要

In this thesis, the problem of employing multiple UAVs for carrying out a Coordinated Strike and a Multiple UAV Surveillance mission has been addressed. The goal of the Coordinated Strike mission is for multiple UAVs to cooperate in order to simultaneously arrive at a high priority target to carry out a coordinated strike. The coordination strategy is based on coordination variables and coordination functions. A distributed system architecture is proposed that allows vehicles to communicate coordinating information across the team without reliance on a central ground controller. Simulations have been conducted to illustrate the performance of the coordination strategy under an actuator fault in single and multiple vehicles.;The Multiple UAV Surveillance problem has been investigated by developing a hypothetical Border Surveillance Mission, wherein a UAV team is tasked to monitor a region along a border between two countries. The goal of the UAVs is to cover the entire surveillance region, while minimizing the team cost, which is a function of each vehicle's fuel consumption and mission time. Three fault cases in a single vehicle in the team have been simulated, namely (1) actuator; (2) sensor; and (3) simultaneous actuator and sensor faults. These faults necessitate a resource allocation problem to be solved, which is used to determine the configuration of the team engaged in the surveillance mission. The team chosen to perform the surveillance mission is the one that incurs the minimum cost for performing the mission.
机译：在本文中，解决了使用多架无人机执行协同打击和多架无人机监视任务的问题。协同打击任务的目标是让多架无人机进行协作，以便同时达到高优先级目标以进行协同打击。协调策略基于协调变量和协调功能。提出了一种分布式系统架构，该架构允许车辆在不依赖中央地面控制器的情况下跨团队交流协调信息。进行了仿真以说明协调策略在单人和多人车辆执行器故障下的性能;通过开发一个假想的边界监视任务，研究了多无人机监视问题，其中无人机团队的任务是监视沿途区域两国之间的边界。无人机的目标是覆盖整个监视区域，同时最大程度地降低团队成本，这是每辆车的油耗和任务时间的函数。模拟了车队中单个车辆的三种故障情况，即（1）执行器； （2）传感器； （3）同时发生执行器和传感器故障。这些故障需要解决资源分配问题，该问题用于确定执行监视任务的团队的配置。选择执行监视任务的团队是获得执行任务的最低成本的团队。

著录项

  • 作者

    Khan, Maria Palwasha.;

  • 作者单位

    Concordia University (Canada).;

  • 授予单位 Concordia University (Canada).;
  • 学科 Engineering Electronics and Electrical.
  • 学位 M.A.Sc.
  • 年度 2008
  • 页码 174 p.
  • 总页数 174
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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