multi-uav integration for coordinated missions
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 PresentationTRANSCRIPT
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]
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
Background
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
5
MULTI-UAV
INTEGRATION
FOR
COORDINATED
MISSIONS
Background
AirCargo challenge
6
MULTI-UAV
INTEGRATION
FOR
COORDINATED
MISSIONS
Background
AirCargo challenge
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
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
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
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
Networked vehicles and systems
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
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
AsasF
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
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.
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
18
System Breakdown Structure
MULTI-UAV
INTEGRATION
FOR
COORDINATED
MISSIONS
AsasF
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
20
Veículos aéreos autónomos Brutus
Super Telemaster
Brutus v2AsasF
21
Veículos aéreos autónomos
AsasF
22
Hardware
•Handset FF9
•OS91FX engine
•Servos
•Electronic equipment (camera, Tx/Rx)
•Piccolo avionics
•Ground Station
AsasF
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
Organization and control
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
26
UAV mission planning
MULTI-UAV
INTEGRATION
FOR
COORDINATED
MISSIONS
Organization and control
27
Organization and control
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
29
MULTI-UAV
INTEGRATION
FOR
COORDINATED
MISSIONS
Organization and control
30
MULTI-UAV
INTEGRATION
FOR
COORDINATED
MISSIONS
Organization and control
31
Veículos aéreos autónomos
Handset
Piccolos
CAN interface
GroundStation
Operator Interface Computer
Airplane Simulator & FlightGear
HardWare-In-the-Loop
Organization and control
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
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
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
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