Cooperative Control for Target Classification
- 519 Downloads
An overview is presented of ongoing work in cooperative control for unmanned air vehicles, specifically wide area search munitions, which perform search, target classification, attack, and damage assessment. The focus of this paper is the cooperative use of multiple vehicles to maximize the probability of correct target classification. Capacitated transhipment and market based bidding are presented as two approaches to team and vehicle assigment for cooperative classification. Templates are developed and views are combined to maximize the probability of correct target classification over various aspect angles. Optimal trajectories are developed to view the targets. A false classification matrix is used to represent the probability of incorrectly classifying nontargets as targets. A hierarchical distributed decision system is presented that has three levels of decomposition: The top level performs task assignment using a market based bidding scheme; the middle subteam level coordinates cooperative tasks; and the lower level executes the elementary tasks, eg path planning. Simulations are performed for a team of eight air vehicles that show superior classification performance over that achievable when the vehicles operate independently.
Keywordscooperative control autonomous control
Unable to display preview. Download preview PDF.
- Passino, Kevin M., Marios M. Polycarpu, David Jacques, and Meir Pachter, “Distributed Cooperation and Control for Autonomous Air Vehicles”, ibid.Google Scholar
- Gillen, Daniel P., and David R. Jacques, “Cooperative Behavior Schemes for Improving the Effectiveness of Autonomous Wide Area Search Munitions”, ibid.Google Scholar
- Murphy, Robert A., “An Approximate Algorithm for a Weapon Target Assignment Stochastic Program”, in Approximation and Complexity in Numerical Optimization: Continuous and Discrete Problems, Klewer Academic Publishers, 1999.Google Scholar
- Nygard, Kendall E., Phillip R. Chandler, and Meir Pachter, “Dynamic Network Flow Optimization Models for Air Vehicle Resource Allocation”, submitted to American Control Conference 2001.Google Scholar
- Chandler, P., S. Rasmussen, M. Pachter, “UAV Cooperative Control”, AIAA GNC 2000, Denver, CO, Aug 2000.Google Scholar
- McLain, T., “Cooperative Rendezvous of Multiple Unmanned Air Vehicles”, AIAA GNC 2000, Denver, CO, Aug 2000.Google Scholar
- Bortoff, S., “Path Planning for UAVs”, AIAA GNC 2000, Denver, CO, Aug 2000.Google Scholar