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Coordinated Rendezvous for Multiple UAVs with Collision Avoidance

This study explores a method for coordinating the rendezvous of multiple UAVs at a predetermined time and place, while ensuring collision avoidance. Utilizing a kinematic UAV model, the approach employs a consensus mechanism to determine the Estimated Time of Arrival (ETA) at the target, adjusting velocities as necessary. The method accounts for UAV velocity bounds, implementing strategies to handle maximum and minimum velocity scenarios. The findings demonstrate effective rendezvous protocols, even when UAVs are constrained by collision avoidance maneuvers, and outline modifications for target tracking.

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Coordinated Rendezvous for Multiple UAVs with Collision Avoidance

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  1. Multiple UAV Rendezvous with Collision Avoidance Joel George and DebasishGhose Guidance, Control, and Decision Systems Laboratory (GCDSL) Department of Aerospace Engineering, Indian Institute of Science, Bangalore India 560012.

  2. Introduction • Rendezvous: meeting at a pre-planned time and place • Rendezvous of multiple UAVs • For simultaneous deployment of resources • To exchange resources or critical information • Rendezvous of multiple UAVs when some of the UAVs have to do collision avoidance maneuvers en route

  3. Assumptions • Kinematic UAV model is the position, is the velocity, is the heading, and is the turn rate command of UAV • Global communication between UAVs

  4. Solution Approach • Rendezvous via consensus on Estimated Time of Arrival (ETA) at target • ETA at target obtained from Dubins path to target • Arrive at a consensus on ETA by adjusting velocities

  5. Solution Approach • Average consensus • In principle, any consensus protocol can be used. Average consensus protocol is used for the purpose of illustration

  6. Handling velocity bounds • If a UAV hits the maximum velocity bound, it stays with that velocity • If a UAV hits the minimum velocity bound, it stays with that velocity and in addition does a wandering maneuver (move away from target)

  7. Wandering maneuver example Example of a case where one UAV (red) hits upper velocity bound while other (green) hits lower velocity bound but still achieves a rendezvous

  8. Rendezvous without collision avoidance • Example of rendezvous of 10 UAVs

  9. Rendezvous with collision avoidance • Rendezvous of 5 UAVs with collision avoidance

  10. Target tracking • Target tracking with a stand-off radius • Target tracking can be achieved by a little modification in the rendezvous via consensus algorithm • Stand-off radius achieved by keeping the ETA to target constant

  11. Target tracking • Tracking a stationary target

  12. Target tracking • Tracking moving target

  13. Remarks • The algorithm developed for rendezvous via consensus can be modified by adding a ‘bias’ to address the cooperative timing problem

  14. Summary • Algorithm for multiple UAV rendezvous under collision avoidance achieved via consensus on ETA to target

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