multi-uav integration for coordinated missions

35
MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Ricardo Bencatel [email protected] Pedro Almeida [email protected] Gil Manuel Gonçalves [email protected] João Borges de Sousa [email protected]

Upload: zed

Post on 12-Jan-2016

26 views

Category:

Documents


1 download

DESCRIPTION

MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS. Ricardo Bencatel [email protected] Pedro Almeida [email protected] Gil Manuel Gonçalves [email protected] João Borges de Sousa [email protected]. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS. Background - PowerPoint PPT Presentation

TRANSCRIPT

Page 1: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

MULTI-UAV

INTEGRATION FOR

COORDINATED

MISSIONS

Ricardo Bencatel [email protected]

Pedro Almeida [email protected]

Gil Manuel Gonçalves [email protected]

João Borges de Sousa [email protected]

Page 2: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

2

Overview

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

• Background• Networked vehicles and systems• AsasF

– Goals– Requirements– System breakdown structure– Status

• Organization and control– Vehicle control– Multi-vehicle control

Page 3: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

Background

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Page 4: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

4

Motivation

• Forest fires in Portugal

• Oceanographic area

• Trend in military

• Less risk for the pilot

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Applications

Rescue, civil protection & commercial applications•Flying eye for rescue services•Hazard inspections•Surveillance

Military & governmental applications•Short range reconnaissance•Search mission•Critical area monitoring•Fire prevention

Background

Page 5: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

5

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Background

AirCargo challenge

Page 6: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

6

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Background

AirCargo challenge

Page 7: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

7

Mixed Initiative Control of Automa-teams

Cooperative Battle Management of Teamed UAVsCooperative Battle Management of Teamed UAVs

PlanPlan

ExecuteExecute

AssessAssess

Cooperatively

Cooperatively

Communicate

Sense

Sense

Atack

Atackl

Process

Process

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Background

Page 8: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

8

Underwater Systems and Technology Lab Porto University

MissionMission

Design and deployment of innovative solutions for oceanographic and environmental applications

VehiclesVehicles

Autonomous submarines

Remotely operated submarines

Unmanned air vehicles

TechnologiesTechnologies

Systems engineering

Navigation and control

Acoustic networks

Networked control systems

Power/computer systems

ApplicationsApplications

Monitoring sea outfalls

Coastal oceanography

Underwater archaeology

Inspection and intervention

Courtesy of Michael Incze, NUWC

Page 9: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

9

Cooperation

Portugal

Academia da Força Aérea Portuguesa

Instituto Superior de Engenharia do Porto

United States

University of California at Berkeley, USA

C3UV

Naval Postgraduate School, Monterey, CA, USA

California Institute of Technology, CA, USA

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Background

Page 10: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

10

Cooperative UAV Program (2005-)• Low cost UAVs

– RC frame– Shares electronics and control

with AUVs– Common CCC infrastructure– Composite materials– Long range

• Coordinated operation– Formation flying– Other cooperative missions– Sensor networks and seagoing

Vehicles

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Background

Page 11: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

Networked vehicles and systems

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Page 12: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

12

Networked operations

Moored sensors

Autonomous surface vehicle

Surface buoy

Navigation beacon

Oceanographic sensors

Moored sensors

Control station

Driftingsensors

AUVAUV

Control station

UAVUAV

AUV

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Networked Control

Page 13: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

13

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Common thrusts on coordinated systems • Development of user-friendly operator interface; • To allow a single-user to control a whole fleet of

vehicles• Research on distributed task assignment• Mixed-initiative (human operator in the control loop)

environments

Networked Control

Page 14: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

AsasF

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Page 15: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

15

Goals

• Integrate Piccolo with the Neptus framework for planning and control of autonomous vehicles

• Extend the Neptus framework to include UAV models and operational interfaces

• Evaluate mixed initiative operations

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

AsasF

Page 16: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

16

AsasF

Veículos aéreos autónomos

• Take model airplane parameters

• Mount autopilot in each aircraft

• Perform tests carry out an autonomous flight

demonstration

Low-level

High-level Coordinated Control

• Control structure modelled through the framework of dynamic

networks of hybrid automata

• Tool to achieve coordinated control of multiple vehicles: Neptus

framework.

Page 17: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

17

RequirementsMULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

AsasF

•Minimum payload of 4Kg

•Modular, flexible, robust

•Low cost

•COTS components

•Easy control and operation

•Autonomous and remotely operated operation

•Air data (Altitude, Air pressure, airspeed, GPS, RPMs)

•Video acquisition and real time transmission

•Operational console capable of specifying new

waypoints for coordinated flight

Page 18: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

18

System Breakdown Structure

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

AsasF

Page 19: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

19

Vehicles• Large trainer

– Low cost, easy to fix or replace

– Stable platform

– Room and payload capacity

• UAV developed at Porto University

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

AsasF

Page 20: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

20

Veículos aéreos autónomos Brutus

Super Telemaster

Brutus v2AsasF

Page 21: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

21

Veículos aéreos autónomos

AsasF

Page 22: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

22

Hardware

•Handset FF9

•OS91FX engine

•Servos

•Electronic equipment (camera, Tx/Rx)

•Piccolo avionics

•Ground Station

AsasF

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Page 23: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

23

StatusMULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

AsasF • Building of platform Telemaster (commercial aircraft model) and final adjustments to Brutus v1

•Brutus v2 development and building

•Study of Piccolo’s controller and SDK communications

•Study and implementation of HWIL simulation

Page 24: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

Organization and control

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Page 25: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

25

Neptus at a glance

• Distributed command and control infrastructure for multi-vehicle systems with mixed-initiative interactions

• Supports mission life cycle– Planning– Simulation– Supervision– Review and analysis– Data dissemination

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Organization and control

Page 26: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

26

UAV mission planning

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Organization and control

Page 27: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

27

Organization and control

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Page 28: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

28

Piccolo Avionics System

• Miniature flight control system• Radio link between ground station and avionics

for command and parameter upload, telemetry, and DGPS

• Single ground station can control multiple units• HIL simulation mode

GroundStation

PiccoloAvionic

s

Sensors

Servos

PiccoloAvionics

AIRCRAFT

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Organization and control

Page 29: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

29

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Organization and control

Page 30: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

30

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Organization and control

Page 31: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

31

Veículos aéreos autónomos

Handset

Piccolos

CAN interface

GroundStation

Operator Interface Computer

Airplane Simulator & FlightGear

HardWare-In-the-Loop

Organization and control

Page 32: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

32

Platform configuration

• Piccolo manages low-level flight control• PC-104 for higher-level tasks (vision processing,

trajectory planning,…)• Independent radio links

GroundStation

PiccoloAvionic

s

Sensors

AIRCRAFT

PC-104PayloadDevices

Aircraft Low level control / Logging

Payload High level Control / Logging

Servos

Similar to Berkeley’s architecture

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Organization and control

Page 33: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

33

Single vehicle controllers

UAV

Platform

Maneuver controller

Vehicle supervisor

StateMessages

Platform commands

StateMessages

AbortConfigurations

Maneuver commandsConfiguration commands

Execution eventsState

Mission supervisor

External controller

Vehicle maneuvers

IndividualMission

Team/task

Link

Control concepts

Platform commands

Follow_pathLoitter

Attack_jam

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Organization and control

Page 34: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

34

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Support

Prof. Fernando Lobo Pereira

Prof. António Torres Marques

PESC projects

ISR – Instituto de Sistemas e Robótica

INEGI – Instituto de Engenharia Mecânica e Gestão Industrial

USTL – Underwater Systems and

Technology Laboratory

NAAM – Núcleo de Aeronáutica,

Aeroespacial e Modelismo

Page 35: MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

MULTI-UAV

INTEGRATION FOR

COORDINATED

MISSIONS

Ricardo Bencatel [email protected]

Pedro Almeida [email protected]

Gil Manuel Gonçalves [email protected]

João Borges de Sousa [email protected]

Website:whale.fe.up.pt/asasf