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UAV DECISION AND CONTROL SYSTEM

  • US 20100163621A1
  • Filed: 01/10/2007
  • Published: 07/01/2010
  • Est. Priority Date: 01/11/2006
  • Status: Active Grant
First Claim
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1. A hierarchical multiple UAV decision and control system comprising two or more armed UAV'"'"'s dispatched onto a theater environment in order to search, detect and attack time-critical attack targets, and at least two of the following means:

  • (i) flocking means based on a behavioral heuristic algorithm wherein said algorithm controls the velocity and heading of the UAV'"'"'s and is configured so that each UAV communicates with its closest neighbors only, and control information comprising flocking data propagates from node to node using a tree management or hierarchical protocol;

    (ii) wireless ad-hoc communications means between the UAV'"'"'s as follows;

    for communicating attack target list and flocking information both from the root downstream towards other nodes in the sub-trees and from each node upstream towards the root;

    the root node gathers task assignment and flocking data calculated by its sub-trees, calculates global functions, task assignment and flocking data for the tree;

    the root node distributes said global functions, task assignment and flocking data back to its sub-trees;

    in conditions where communication between the UAV'"'"'s is constantly disrupted due to dynamic changes in the field, the constant flow of upstream and downstream data improves the overall efficiency of the UAV'"'"'s in the tree; and

    (iii) task assignment means configured so that each UAV, using a graph-theoretic approach, locates all detectable attack targets;

    identifies said attack targets;

    computes the distance to each of said attack targets; and

    produces an attack plan based on system parameters, such that said attack plan optimizes the distances between said UAV'"'"'s to said attack targets.

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