Autonomous Control for Unmanned Vehicles
Abstract
This proposal requests HBCU/MI funds to research and develop new indoor and outdoor research capabilities in the area of formation control at the Autonomous Vehicle Systems (AVS) Research and Education Laboratory at the University of the Incarnate Word (UIW). The AVS Lab is housed in the School of Mathematics, Science, and Engineering and managed by the PI. The AVS Lab is currently in Phase III of its research plan and is focusing on creating greater capabilities in indoor collaborative formation control and expanding outdoor flight testing. The long-term research goal for the AVS Lab is to investigate techniques for decentralized collaborative decision making and control of autonomous vehicles in uncertain complex environments. The research funds allow the AVS Lab to begin exploring new autonomous techniques in obstacle sense and avoid, manned-unmanned teaming, and collaborative control of both indoor and outdoor Unmanned Aircraft Systems (UAS). The investment will allow the PI to support one senior personnel and one post-doctoral researcher for the three-year project period. The PI estimates that an additional four unfunded undergraduate students will participate in the proposed research each calendar year as part of their senior design project. A special focus will be made to recruit veterans into the AVS Laboratory as student researchers. Additionally, the PI will receive a 25% release from teaching for both the Fall and Spring Semesters as well as full-time summer support for the entire grant period. The long-term research goal for the AVS Laboratory is to investigate techniques for autonomous control, collaboration, and decision-making in unstructured, dynamic, and uncertain nonlinear environments for ground and air vehicles. To fulfill the research goal, HBCU/MI funds will be invested to initiate basic research in the areas of autonomous rotorcraft control and collaborative control of heterogeneous vehicles. The objective of this research proposal will be to develop new techniques in optimal control, nonlinear model predictive control (NMPC), and decentralized control of nonlinear complex systems making use of Homogeneous System Theory. The outcome of the research will be the application of these new techniques to the formation control of autonomous and semi-autonomous ground and air vehicles in uncertain and changing environments using the equipment from the AVS Laboratory. Specifically, the research undertaken in this proposal will focus on: (1) Homogeneous System Theory and Optimal Controls (2) Nonlinear MPC Design making use of Homogeneous System Theory, (3) Decentralized NMPC of Large-Scale Nonlinear Uncertain Systems, and (4) Machine Learning for the Handling Qualities and Performance of Autonomous Vehicles. HBCU/MI funds will significantly contribute to the understanding of the collaborative formation control of multi-agent autonomous systems in uncertain dynamic environments. This research will have a direct impact on DoD mission requirements including: ¥ Autonomous tracking of a moving target by a formation of rotorcraft UAVs ¥ Collaborative control between rotorcraft and ground autonomous vehicles ¥ Autonomous Aerial Refueling between multiple UAVs. The educational mission of the AVS Laboratory is to provide student opportunities for theoretical and applied research under faculty supervision in the area of autonomous vehicles. HBCU/MI funds will enhance the STEM curriculum at UIW and assist to graduate diverse and highly-qualified professionals who fill STEM occupations of national need. As part of the AVS Lab community outreach, high school and middle school students and teachers will have the opportunity to learn more about UASs and STEM fields through the various outreach programs hosted during the academic year and each summer by the lab.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jul 09, 2020
- Source ID
- W911NF2010260
Entities
People
- Michael Frye
Organizations
- Army Contracting Command
- Office of the Secretary of Defense
- University of the Incarnate Word