Department News
Developing a Control Architecture for Multiple Unmanned Aerial Vehicles to Search and Localize RF Ti
Seminar Date
2005-07-04
Author
임아주
Date
2005-06-30
Views
1903
1. 제 목 : Developing a Control Architecture for Multiple Unmanned Aerial Vehicles to Search and Localize RF Time-Varying Mobile Targets
2. 연 사 : Daniel J. Pack
3. 일 시 : 2005년 7월 4일 월요일 오후 4시~5시
4. 장 소 : 서울대학교 301동 1512호 세미나실
5. 내 용
In this talk, I will present a control architecture that allows multiple Unmanned Aerial Vehicles (UAVs) to cooperatively detect mobile RF (Radio Frequency) emitting ground targets. The architecture is developed under the premise that UAVs are controlled as a distributed system. The distributed system-based technique maximizes the search and detection capabilities of multiple UAVs. We use a hybrid approach that combines a set of intentional cooperative rules with emerging properties of a swarm to accomplish the objective. The UAVs are equipped only with low-precision RF direction finding sensors and we assume the targets may emit signals randomly with variable duration. Once a target is detected, each UAV optimizes a cost function to determine whether to participate in a cooperative localization task. The cost function balances between the completion of detecting all targets (global search) in the search space and increasing the precision of cooperatively locating already detected targets. A search function for each UAV determines the collective search patterns of collaborating UAVs. Two functions used by each UAV determine (1) the optimal number of UAVs involved in locating targets, (2) the search pattern to detect all targets, and (3) the UAV flight path for an individual UAV. We show the validity of our algorithm using simulation and mobile robot experiments. UAV hardware implementation of the strategies is planned for this coming year.
6. 약 력
Daniel J. Pack is a Professor in the Department of Electrical Engineering at the United States Air Force Academy, CO. He received the Bachelor of Science degree in Electrical Engineering in 1988, the Master of Science degree in Engineering Sciences in 1990, and the Ph.D. degree in Electrical Engineering in 1995, from Arizona State University, Harvard University, and Purdue University, respectively. During the 2000-2001 academic year, he was a visiting scholar at Massachusetts Institute of Technology-Lincoln Laboratory. Dr. Pack has co-authored two textbooks on embedded systems (68HC12 Microcontroller: Theory and Applications and Embedded Systems: Design and Applications with the 68HC12 and HCS12) and published over 70 refereed journal and conference papers on control, robotics, pattern recognition, and engineering education. He is a member of Eta Kappa Nu (Electrical Engineering Honorary Society), Tau Beta Pi (Engineering Honorary Society), IEEE (senior member), and ASEE. He is a registered Professional Engineer in Colorado. His research interests include unmanned aerial vehicles, intelligent control, automatic target recognition, and robotics.
7. 문 의 : 기계항공공학부 박 종 우 교수 (☏ 880-7133)
2. 연 사 : Daniel J. Pack
3. 일 시 : 2005년 7월 4일 월요일 오후 4시~5시
4. 장 소 : 서울대학교 301동 1512호 세미나실
5. 내 용
In this talk, I will present a control architecture that allows multiple Unmanned Aerial Vehicles (UAVs) to cooperatively detect mobile RF (Radio Frequency) emitting ground targets. The architecture is developed under the premise that UAVs are controlled as a distributed system. The distributed system-based technique maximizes the search and detection capabilities of multiple UAVs. We use a hybrid approach that combines a set of intentional cooperative rules with emerging properties of a swarm to accomplish the objective. The UAVs are equipped only with low-precision RF direction finding sensors and we assume the targets may emit signals randomly with variable duration. Once a target is detected, each UAV optimizes a cost function to determine whether to participate in a cooperative localization task. The cost function balances between the completion of detecting all targets (global search) in the search space and increasing the precision of cooperatively locating already detected targets. A search function for each UAV determines the collective search patterns of collaborating UAVs. Two functions used by each UAV determine (1) the optimal number of UAVs involved in locating targets, (2) the search pattern to detect all targets, and (3) the UAV flight path for an individual UAV. We show the validity of our algorithm using simulation and mobile robot experiments. UAV hardware implementation of the strategies is planned for this coming year.
6. 약 력
Daniel J. Pack is a Professor in the Department of Electrical Engineering at the United States Air Force Academy, CO. He received the Bachelor of Science degree in Electrical Engineering in 1988, the Master of Science degree in Engineering Sciences in 1990, and the Ph.D. degree in Electrical Engineering in 1995, from Arizona State University, Harvard University, and Purdue University, respectively. During the 2000-2001 academic year, he was a visiting scholar at Massachusetts Institute of Technology-Lincoln Laboratory. Dr. Pack has co-authored two textbooks on embedded systems (68HC12 Microcontroller: Theory and Applications and Embedded Systems: Design and Applications with the 68HC12 and HCS12) and published over 70 refereed journal and conference papers on control, robotics, pattern recognition, and engineering education. He is a member of Eta Kappa Nu (Electrical Engineering Honorary Society), Tau Beta Pi (Engineering Honorary Society), IEEE (senior member), and ASEE. He is a registered Professional Engineer in Colorado. His research interests include unmanned aerial vehicles, intelligent control, automatic target recognition, and robotics.
7. 문 의 : 기계항공공학부 박 종 우 교수 (☏ 880-7133)
