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Status: Bibliographieeintrag
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Verfasst von:Alexopoulos, Alexander [VerfasserIn]   i
 Schmidt, Tobias [VerfasserIn]   i
 Badreddin, Essameddin [VerfasserIn]   i
Titel:Pursuit and evasion in a recursive nested behavioral control structure for unmanned aerial vehicles
Verf.angabe:Alexander Alexopoulos, Tobias Schmidt and Essameddin Badreddin
E-Jahr:2014
Jahr:18 December 2014
Umfang:6 S.
Fussnoten:Gesehen am 16.05.2019
Titel Quelle:Enthalten in: 14th International Conference on Control, Automation and Systems (ICCAS), 2014
Ort Quelle:Piscataway, NJ : IEEE, 2014
Jahr Quelle:2014
Band/Heft Quelle:(2014), Seite 1175-1180
ISBN Quelle:978-1-4799-6051-4
 89-93215-06-5
 1-4799-6051-9
 978-89-93215-06-9
 978-1-4799-6051-4
Abstract: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.
DOI:doi:10.1109/ICCAS.2014.6987737
URL:Bitte beachten Sie: Dies ist ein Bibliographieeintrag. Ein Volltextzugriff für Mitglieder der Universität besteht hier nur, falls für die entsprechende Zeitschrift/den entsprechenden Sammelband ein Abonnement besteht oder es sich um einen OpenAccess-Titel handelt.

Kostenfrei: Volltext ; Resolving-System: https://ieeexplore.ieee.org/document/6987737
 Kostenfrei: Volltext: http://dx.doi.org/10.1109/ICCAS.2014.6987737
 DOI: https://doi.org/10.1109/ICCAS.2014.6987737
Datenträger:Online-Ressource
Sprache:eng
Sach-SW:attitude control
 Attitude control
 autonomous aerial vehicles
 collision avoidance
 Collision avoidance
 collision avoidance behavior
 collision-free pursuit-evasion problem
 dynamic non-cooperative games
 evader RNBC structure
 game theory
 high-level behaviors
 PEG
 pursuer RNBC structure
 pursuit-evasion game
 pursuit-evasion games
 recursive nested behavioral control structure
 reference velocity vector
 repulsion force approach
 system architectures
 UAV agent architecture
 unmanned aerial vehicles
 velocity control
K10plus-PPN:1665833432
Verknüpfungen:→ Sammelwerk

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