Active Singularities for Multivehicle Motion Planning in an N-Vortex System

Abstract. This paper presents a path-planning paradigm for distributed control of multiple sensor platforms in a geophysical flow well-approximated by a point-vortex model. We utilize Hamiltonian dynamics to generate control vector fields for vehicle motion in N-vortex flows using the con-cept of an active singularity whose strength is a tunable control input. We introduce active singularities that are virtual point vortices possibly collocated with virtual point sources or sinks. We provide a principled method to stabilize relative equilibria of these virtual vortices in the presence of the actual point vortices, which represent the underlying geo-physical flow. We illustrate how these relative equilibria may be useful for vehicle path planning and sampling in a geophysical flow. Preliminary results presented here are based on an adaptive control design

Decentralised Standoff Tracking of Moving Targets Using Adaptive Sliding Mode Control for UAVs

This paper proposes a decentralised vector field guidance algorithm for coordinated standoff tracking of a ground moving target by multiple UAVs. In particular, this study introduces additional adaptive terms in an existing sliding mode control concept for standoff tracking guidance, in order to reduce the effect of unmodelled dynamics and disturbances. Decentralised angular separation control between UAVs, in conjunction with decentralised estimation, is also introduced using either velocity or orbit radius change by different information/communication structures. Numerical simulations are performed to verify the feasibility and benefits of the proposed approach under a realistic ground vehicle tracking scenario, using multiple UAVs having unknown parameters in the heading-hold autopilotclos

Rendezvous and Standoff Target Tracking Guidance Using Differential Geometry

This paper proposes UAV rendezvous and standoff tracking guidance laws against a moving target using differential geometry. Searching and subsequent tracking of moving ground based target is one of the primary capabilities of cooperative UAVs. In performing such missions, UAVs are to approach a target and keep a certain distance, known as a standoff distance. This allows target tracking without being noticed and acquisition of accurate target information. In this study, standoff target tracking is proposed using the solution of differential geometry between the UAV and the target. The proposed algorithm brings several advantages along with its inherent simplicity: rigorous stability, explicit use of a target velocity, and tuning parameter reduction. The feasibility and performance of the proposed approach is not only mathematically analysed, but also verified through realistic scenariosclos