Autonomous Mission Management for Forest Search with Multiple Unmanned Aerial Vehicles
Kemao Peng, Feng Lin, Ben M. Chen · 2016
An autonomous mission management (AMM) system is designed with the enhanced hierarchical-distributed methodology (HDM) for multiple unmanned aerial vehicles (UAVs) to search a field of forest together. The main ideas of the enhanced HDM are hierarchical control and distributed implementation. The event control law is partitioned into the group and individual event control laws. The group event control law is to coordinate the group of UAVs to complete the designated mission and the individual event control laws are to complete the assigned submissions/ tasks accordingly. The group event control law is executed by the leader and any member can be designated or selected as the leader on the rules. The forest search is applied to verify the designed AMM system in simulation. The simulation results demonstrate that the designed AMM system is successful to complete the designated mission by collaborating the group of UAVs.