Real-Time Multi-UAV Task Assignment in Dynamic and Uncertain Environments
Author(s)How, Jonathan P.; Bertuccelli, Luca F.; Choi, Han-Lim; Cho, Peter L.
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This paper analyzes task assignment for heterogeneous air vehicles using a guaranteed conflict-free assignment algorithm, the Consensus Based Bundle Algorithm (CBBA). We extend this recently proposed algorithm to handle two realistic multi- UAV operational complications. Our rst extension accounts for obstacle regions in order to generate collision free paths for UAVs. Our second extension reduces task planner sensitivity to sensor measurement noise, and thereby minimizes churning behavior in flight paths. After integrating our enhanced CBBA module with a 3D visualization and interaction software tool, we simulate multiple aircraft servicing stationary and moving ground targets. Preliminary simulation results establish that consistent, conflict-free multi-UAV path assignments can be calculated on the order of a few seconds. The enhanced CBBA consequently demonstrates signfi cant potential for real-time performance in stressing environments.
Conference agenda: http://www.aiaa.org/agenda.cfm?lumeetingid=1998
DepartmentLincoln Laboratory; Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
AIAA Guidance, Navigation, and Control Conference 10 - 13 August 2009, Chicago, Illinois
American Institute of Aeronautics and Astronautics
Bertuccelli, Luca F. et al. " Real-Time Multi-UAV Task Assignment in Dynamic and Uncertain Environments." AIAA Guidance, Navigation, and Control Conference, 10 - 13 August 2009, Chicago, Illinois, AIAA-2009-5776, p.1-16. © 2009 American Institute of Aeronautics and Astronautics.
Session 31- GNC-19