We develop a decentralized hybrid controller for fixed-wing UAVs assisting a manned helicopter in a United States Coast Guard search and rescue mission. The UAVs assist the manned helicopter by providing an expanded sensor footprint using onboard cameras. We consider two UAVs, one flying on either side of the helicopter, with constant velocity and maximum turn rate constraints. Tracking the helicopter around sharp corners will be difficult due to these constraints and the difference in path lengths for the two UAVs. To solve this problem, we propose a hybrid controller that allows the UAVs to swap positions in an attempt to improve the tracking and ground coverage performance of the formation. We discuss tracking control, the position swapping algorithm and collision avoidance. Simulation results demonstrate improved search efficiency and aircraft safety.
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ASME 2005 International Mechanical Engineering Congress and Exposition
November 5–11, 2005
Orlando, Florida, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
0-7918-4216-9
PROCEEDINGS PAPER
Hybrid Control for UAV-Assisted Search and Rescue
Allison D. Ryan,
Allison D. Ryan
University of California at Berkeley
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David L. Nguyen,
David L. Nguyen
University of California at Berkeley
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J. Karl Hedrick
J. Karl Hedrick
University of California at Berkeley
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Allison D. Ryan
University of California at Berkeley
David L. Nguyen
University of California at Berkeley
J. Karl Hedrick
University of California at Berkeley
Paper No:
IMECE2005-80648, pp. 187-195; 9 pages
Published Online:
February 5, 2008
Citation
Ryan, AD, Nguyen, DL, & Hedrick, JK. "Hybrid Control for UAV-Assisted Search and Rescue." Proceedings of the ASME 2005 International Mechanical Engineering Congress and Exposition. Dynamic Systems and Control, Parts A and B. Orlando, Florida, USA. November 5–11, 2005. pp. 187-195. ASME. https://doi.org/10.1115/IMECE2005-80648
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