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Multi-UAV flight using virtual structure combined with behavioral approach

Kownacki C.

Acta Mechanica et Automatica

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2016

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Vol. 10, no. 2

92--99

EN

Implementations of multi-UAV systems can be divided mainly into two different approaches, centralised system that synchronises positions of each vehicle by a ground station and an autonomous system based on decentralised control, which offers more flexibility and independence. Decentralisation of multi-UAV control entails the need for information sharing between all vehicles, what in some cases could be problematic due to a significant amount of data to be sent over the wireless network. To improve the reliability and the throughput of information sharing inside the formation of UAVs, this paper proposes an approach that combines virtual structure with a leader and two flocking behaviours. Each UAV has assigned different virtual migration point referenced to the leader's position which is simultaneously the origin of a formation reference frame. All migration points create together a virtual rigid structure. Each vehicle uses local behaviours of cohesion and repulsion respectively, to track its own assigned point in the structure and to avoid a collision with the previous UAV in the structure. To calculate parameters of local behaviours, each UAV should know position and attitude of the leader to define the formation reference frame and also the actual position of the previous UAV in the structure. Hence, information sharing can be based on a chain of local peer-to-peer communication between two consecutive vehicles in the structure. In such solution, the information about the leader could be sequentially transmitted from one UAV to another. Numerical simulations were prepared and carried out to verify the effectiveness of the presented approach. Trajectories recorded during those simulations show collective, coherence and collision-free flights of the formation created with five UAVs.

2

Nowoczesny system sterowania pojazdu tramwajowego przy minimum zużycia energii elektrycznej

Rawicki S.

Maszyny Elektryczne : zeszyty problemowe

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2005

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Nr 73

131-136

EN

The paper deals with the tram vehicle control according to the criterion of the minimum use of the electric energy. The calculations and investigations show that for the given interstop distance and the ride time (the given time-table, the same average speed), the different types of the tram traffic are possible. The optimization of the tram vehicle run consists in determination of duration of the starting phase, the running with the constant speed, the coasting stage and the braking phase in order to attain the minimum electric energy use. Within the framework of the tram traffic in the city conditions, various disturbances can appear. In this paper, the influence of the local and global limitations of the vehicle speed on the values of the energy consumption is analysed. The local velocity reductions can appear both in the initial part of the ride and inside the interstop traffic. An application of power electronics devices makes possible the realization of the recuperation of the electric energy during the tram vehicle braking. The paper deals also with comparison of the values of the energy consumption at various disturbances of the tram traffic and for two different cases, when the energy recovery during the braking exists or doesn't occur. For every type of the tram ride, the duration of the individual phases of the traffic is calculated with the aim of achievement the minimum electric energy use. The suitable energy optimum control of the tram vehicle at various perturbations of the city traffic can ensure the electric energy savings equal to even 30 %.

3

Sterowanie odstępami między pojazdami w konwoju

Burzawa J., Socha L.

Zeszyty Naukowe. Transport / Politechnika Śląska

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2000

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z. 41

93-102

PL

W pracy przedstawiono projekt poprawy przepustowości dróg oraz bezpieczeństwa i szybkości podróży poprzez wykorzystanie zautomatyzowanych pojazdów połączonych w konwoje. W rozpatrywanych modelach zarówno prędkości początkowe pojazdów, jak i marszruta lidera generowane są w sposób losowy. Przy wykorzystaniu programu symulacyjnego przeanalizowano różnice w zachowaniu pojazdów dla trzech wariantów sterowania: modelu pierwszego z wykorzystaniem informacji o położeniu, prędkości i przyspieszeniu poprzedzającego pojazdu, modelu drugiego, który oprócz danych z modelu pierwszego wykorzystuje również informację o prędkości lidera, modelu trzeciego, w którym w stosunku do poprzedniego modelu wykorzystywana jest również informacja o zmianie przyspieszenia lidera.

EN

The improved model of control vehicles in platoon with random parameters has been proposed in this paper. Three variants of control with utilization of information about position, speed and acceleration of previous vehicle combined with these information about leader have been considered. The proposed models were tested by simulations and results obtained are illustrated in figures and tables.

4

Modele sterowania pojazdami na trzypasmowej autostradzie

Pordzik M., Socha L.

Zeszyty Naukowe. Transport / Politechnika Śląska

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2000

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z. 41

103-112

PL

Przedstawiono trzy modele ruchu pojazdów na odcinku autostrady z możliwością zmiany pasa ruchu. W opisie matematycznym modeli zaproponowano algorytmy sterowania wykorzystujące teorię ruchu pojazdów nazywaną w literaturze "car- following". W modelach przyjęto losowe chwile pojawiania się pojazdów, prędkości początkowe i zalecane. Utworzone algorytmy posłużyły do przeprowadzenia szeregu symulacji i zbadania skutków sterowania pojazdami. Przeprowadzono badania symulacyjne rozważanych modeli i porównano podstawowe wska

EN

Three models of traffic vehicles at segment highway with posibility change lane have been proposed in this paper. The proposed models were tested several sets of parameters by simulations and results obtained are ilustrated in figures and tables.