A receding horizon approach for dynamic UAV mission management

Christos G. Cassandras; Wei Li

doi:10.1117/12.498165

4 September 2003 A receding horizon approach for dynamic UAV mission management

Christos G. Cassandras, Wei Li

Proceedings Volume 5091, Enabling Technologies for Simulation Science VII; (2003) https://doi.org/10.1117/12.498165
Event: AeroSense 2003, 2003, Orlando, Florida, United States

Abstract

We consider a setting where multiple UAVs form a team cooperating to visit multiple targets to collect rewards associated with them. The team objective is to maximize the total reward accumulated over a given time interval. Complicating factors include uncertainties regarding the locations of targets and the effectiveness of collecting rewards, differences among vehicle capabilities, and the fact that rewards are time-varying. We describe a Receding Horizon (RH) control scheme which dynamically assigns vehicles to targets and simultaneously determines associated trajectories. This scheme is based on solving a sequence of optimization problems over a planning horizon and executing them over a shorter action horizon. We also describe a simulated battlespace environment designed to test UAV team missions and to illustrate how the RH scheme can achieve optimal performance with high probability.

Citation Download Citation

Christos G. Cassandras and Wei Li "A receding horizon approach for dynamic UAV mission management", Proc. SPIE 5091, Enabling Technologies for Simulation Science VII, (4 September 2003); https://doi.org/10.1117/12.498165

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