TY - JOUR
T1 - Intelligent control of unmanned aerial vehicles for improved autonomy and reliability
AU - Vachtsevanos, George
AU - Tang, Liang
AU - Drozeski, Graham
AU - Gutierrez, Luis
N1 - Publisher Copyright:
© 2003 Elsevier Ltd. All rights reserved.
PY - 2004
Y1 - 2004
N2 - This paper reviews aspects of Unmanned Aerial Vehicle (UAV) autonomy as suggested by the Autonomous Control Logic chart of the U.S. DoD UAV Autonomy Roadmap; levels of vehicle autonomy addressed through intelligent control practices and a hierarchical/intelligent control architecture is presented for UAVs. Basic modules of the control hierarchy and their enabling technologies are reviewed; of special interest, from an intelligent control perspective, are the middle and high echelons of the hierarchy. Here, mission planning, trajectory generation and vehicle navigation routines are proposed for the highest level. At the middle level, the control role is portrayed by mode transitioning, envelope protection, real-time adaptation and fault detection/control reconfiguration algorithms which are intended to safeguard the UAV's integrity in the event of component failures, extreme operating conditions or external disturbances. The UAV thus exhibits attributes of robustness and operational reliability assuring a satisfactory degree of autonomy. The control technologies are demonstrated through flight testing results and the paper concludes with brief remarks on recent research directions regarding coordinated/cooperative control of multiple UAVs.
AB - This paper reviews aspects of Unmanned Aerial Vehicle (UAV) autonomy as suggested by the Autonomous Control Logic chart of the U.S. DoD UAV Autonomy Roadmap; levels of vehicle autonomy addressed through intelligent control practices and a hierarchical/intelligent control architecture is presented for UAVs. Basic modules of the control hierarchy and their enabling technologies are reviewed; of special interest, from an intelligent control perspective, are the middle and high echelons of the hierarchy. Here, mission planning, trajectory generation and vehicle navigation routines are proposed for the highest level. At the middle level, the control role is portrayed by mode transitioning, envelope protection, real-time adaptation and fault detection/control reconfiguration algorithms which are intended to safeguard the UAV's integrity in the event of component failures, extreme operating conditions or external disturbances. The UAV thus exhibits attributes of robustness and operational reliability assuring a satisfactory degree of autonomy. The control technologies are demonstrated through flight testing results and the paper concludes with brief remarks on recent research directions regarding coordinated/cooperative control of multiple UAVs.
KW - Adaptive control
KW - Autonomous vehicle
KW - Cooperative control
KW - Fault detection
KW - Fault tolerant control
KW - Flight control
KW - Intelligent control
UR - http://www.scopus.com/inward/record.url?scp=85080876597&partnerID=8YFLogxK
M3 - Ponencia publicada en las memorias del evento con ISSN
AN - SCOPUS:85080876597
SN - 1474-6670
VL - 37
SP - 852
EP - 861
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
IS - 8
T2 - IFAC/EURON Symposium on Intelligent Autonomous Vehicles
Y2 - 5 July 2004 through 7 July 2004
ER -