Multiple Unmanned Vehicle Operations in Confined Areas
Qian Zhang, Gerard Leng, Vengatesan Govindaraju · 2013
The aim of the research is to study the dynamics of multiple unmanned air/ground/surface vehicles (UXV) operating in confined areas. A simple model of the UXV dynamics is first derived, and the expected time of first collision is then formulated using the concept of a mean free path from molecular dynamics. Monte-Carlo simulation is performed to verify the theory developed. In our formulation, the expected time of first collision is a function of number of UXVs, the UXV speed and sensor field of view (FOV) for a given operational area and vehicle size. From 1000 simulation runs for each set of operating conditions, a regression analysis was performed using the theoretical formula and a close fit with residuals of around 5% was obtained. The theory predicts that the expected time of first collision decreases at a decreasing rate when the number of vehicles and the speed increase, and will increase at an increasing rate when the FOV becomes larger. Furthermore, there is a critical number of UXVs, above which collision can be deemed to occur instantaneously. The results will be useful for the planning of UXV operations in confined areas.