Decentralized UAV guidance using modified boid algorithms

dc.contributor.author	Clark, Jason
dc.contributor.department	Aerospace Engineering
dc.date	2020-11-06T02:22:17.000
dc.date.accessioned	2021-02-26T08:52:13Z
dc.date.available	2021-02-26T08:52:13Z
dc.date.copyright	Thu Jan 01 00:00:00 UTC 2004
dc.date.issued	2004-01-01
dc.description.abstract	<p>Decentralized guidance of Unoccupied Air Vehicles (UAVs) is a very challenging problem. Such technology can lead to improved safety, reduced cost, and improved mission efficiency. Only a few ideas for achieving decentralized guidance exist, the most effective being the boid algorithm. Boid algorithms are rule-based guidance methods derived from observations of animal swarms. In this paper, boid rules are used to autonomously control a group of UAVs in high-level transit simulations. This paper differs from previous work in that, as an alternative to using exponentially scaled behavior weightings, the weightings are computed off-line and scheduled according to a contingency management system. The motivation for this technique is to reduce the amount of on-line computation required by the flight system. Many modifications to the basic boid algorithm are required in order to achieve a flightworthy design. These modifications include the ability to define flight areas, limit turning maneuvers in accordance with the aircraft dynamics, and produce intelligent waypoint paths. The use of a contingency management system is also a major modification to the boid algorithm. A Simple Genetic Algorithm is used to partially optimize the behavior weightings of the boid algorithm. While a full optimization of all contingencies is not performed due to computation requirements, the framework for such a process is developed. Wolfram's Matlab software is used to develop and simulate the boid guidance algorithm. The algorithm is interfaced with Cloud Cap Technology's Piccolo autopilot system for Hardware-in-the-Loop simulations. These high-fidelity simulations prove this technology is both feasible and practical. They also prove the boid guidance system developed herein is suitable for comprehensive flight testing.</p>
dc.format.mimetype	application/pdf
dc.identifier	archive/lib.dr.iastate.edu/rtd/20388/
dc.identifier.articleid	21387
dc.identifier.contextkey	19953111
dc.identifier.doi	https://doi.org/10.31274/rtd-20201023-62
dc.identifier.s3bucket	isulib-bepress-aws-west
dc.identifier.submissionpath	rtd/20388
dc.identifier.uri	https://dr.lib.iastate.edu/handle/20.500.12876/97755
dc.language.iso	en
dc.source.bitstream	archive/lib.dr.iastate.edu/rtd/20388/Clark_ISU_2004_C595.pdf\|\|\|Fri Jan 14 22:24:16 UTC 2022
dc.subject.keywords	Aerospace engineering
dc.title	Decentralized UAV guidance using modified boid algorithms
dc.type	article
dc.type.genre	thesis
dspace.entity.type	Publication
relation.isOrgUnitOfPublication	047b23ca-7bd7-4194-b084-c4181d33d95d
thesis.degree.discipline	Aerospace Engineering
thesis.degree.level	thesis
thesis.degree.name	Master of Science

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