Central Command Architecture for High-Order Autonomous Unmanned Aerial Systems

• 作者: Chad Bieber Larry M. Silverberg
• 来源期刊: 智能信息管理(英文)
• 学科: 数学
• 关键词: Unmanned AERIAL Vehicles AUTONOMY Central COMMAND HIGH-ORDER SYSTEMS Deconfliction
• 年，卷（期）: 2014,（4）
• 页码范围: 183-195
• 页数: 13页
• 分类号: O1

摘要

This paper is the first in a two-part series that introduces an easy-to-implement central command architecture for high-order autonomous unmanned aerial systems. This paper discusses the development and the second paper presents the flight test results. As shown in this paper, the central command architecture consists of a central command block, an autonomous planning block, and an autonomous flight controls block. The central command block includes a staging process that converts an objective into tasks independent of the vehicle (agent). The autonomous planning block contains a non-iterative sequence of algorithms that govern routing, vehicle assignment, and deconfliction. The autonomous flight controls block employs modern controls principles, dividing the control input into a guidance part and a regulation part. A novel feature of high-order central command, as this paper shows, is the elimination of operator-directed vehicle tasking and the manner in which deconfliction is treated. A detailed example illustrates different features of the architecture.