Coordinated Navigation Control of Cross-Domain Unmanned Systems via Guiding Vector Fields

This article proposes a distributed guiding-vector-field (DGVF) controller for cross-domain unmanned systems (CDUSs) consisting of heterogeneous unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs), to achieve coordinated navigation whereas maneuvering along their prescribed paths. I...

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Bibliographic Details
Published in:	IEEE transactions on control systems technology 2024-03, Vol.32 (2), p.1-14
Main Authors:	Hu, Bin-Bin, Zhang, Hai-Tao, Liu, Bin, Ding, Jianing, Xu, Yifan, Luo, Chuanshang, Cao, Haosen
Format:	Article
Language:	eng
Subjects:	Autonomous aerial vehicles Closed loops Communication Computational efficiency Controllers Cross-domain coordination Feedback control Fields (mathematics) guiding vector fields (GVFs) Navigation Optimization path navigation Regulators Surface vehicles Tracking errors Unmanned aerial vehicles unmanned aerial vehicles (UAVs) unmanned surface vehicles (USVs) Unmanned vehicles Wireless communication Wireless communications Wireless fidelity
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Summary:	This article proposes a distributed guiding-vector-field (DGVF) controller for cross-domain unmanned systems (CDUSs) consisting of heterogeneous unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs), to achieve coordinated navigation whereas maneuvering along their prescribed paths. In particular, the DGVF controller provides a hierarchical architecture of an upper level heterogeneous guidance velocity controller and a lower level signal tracking regulator. Therein, the upper level controller is to govern multiple heterogeneous USVs and UAVs to approach and maneuver along the prescribed paths and coordinate the formation simultaneously, whereas the low-level regulator is to track the corresponding desired guidance signals provided by the upper level module. Significantly, the heterogeneous coordination among neighboring UAVs and USVs is achieved merely by the lightweight communication of a scalar (i.e., the additional virtual coordinate), which substantially decreases the communication and computational costs. Sufficient conditions assuring asymptotical convergence of the closed-loop system are derived in the presence of the exponentially vanishing tracking errors. Finally, real-lake experiments are conducted on a self-established cross-domain heterogeneous platform consisting of three M-100 UAVs, two HUSTER-16 USVs, a HUSTER-12C USV, and a WiFi 5G wireless communication station to verify the effectiveness of the present DGVF controller.
ISSN:	1063-6536 1558-0865