Implementation of Deconfliction in Multivehicle Autonomous Systems

Abstract

The focus of the work in this paper is the implementation of a distributed deconfliction algorithm for vehicles with constraints on velocity and acceleration. The algorithm was tested on two testbeds: a quadrotor system and an underwater vehicle system. The quadrotor system has vehicles that can hover in place and move in arbitrary directions, while the vehicles in the underwater system move with a constant forward velocity and can only change direction by changing heading. Results are demonstrated for a variety of numbers of vehicles as well as types of collision directions.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2010
Accession Number
ADA538735

Entities

People

  • A. P. Melander
  • E. Lalish
  • J. S. Jang
  • J. Vian
  • K. A. Morgansen
  • N. D. Powel

Organizations

  • University of Washington

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Air Traffic
  • Aircrafts
  • Algorithms
  • Autonomous Systems
  • Autonomous Underwater Vehicles
  • Collision Avoidance
  • Collisions
  • Computations
  • Coordinate Systems
  • Flight
  • Flight Paths
  • Simulations
  • Swarming Technologies
  • Trajectories
  • Underwater Vehicles
  • Vehicles
  • Watercraft

Readers

  • Robotics and Automation.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control