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Proceedings Paper

Cooperative control of MAVs for a hidden emitter localization
Author(s): Miguel Gates; Rastko Selmic; Raul Ordonez
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Paper Abstract

This paper provides a summary of the development of a three state machine-based cooperative control algorithm that is applied to multiple Unmanned Aerial Vehicles (UAVs) or Micro-Aerial Vehicles (MAVs) control. We use MAVs for cooperative search of a hidden electromagnetic source (emitter) in a controlled environment. MAVs are equipped with wireless sensor nodes capable of sensing an electromagnetic (EM) field around them. Simultaneous control and sensing capabilities of these MAVs are presented. The algorithm uses a three-state machine to control the MAVs during the search process. The first state is a decentralized cooperative search that allows MAVs to obtain information about the environment and detect EM emissions from the target. The second state implements a gradient descent algorithm in which the MAVs converge towards the target based on the received signal strength, while still maintaining a proximal distance from each other. MAVs are positioned at the optimal distance of the detected EM source before fine-tuning of the emitter localization is carried out. The third state incorporates a technique called Position-Adaptive Direction Finding (PADF), where the MAVs adapt their positions in order to further improve localization of a hidden emitter using an estimated path loss exponent as a feedback. We present simulation and experimental data that illustrate the proposed approach.

Paper Details

Date Published: 3 May 2012
PDF: 13 pages
Proc. SPIE 8361, Radar Sensor Technology XVI, 83610I (3 May 2012); doi: 10.1117/12.919445
Show Author Affiliations
Miguel Gates, Louisiana Tech Univ. (United States)
Rastko Selmic, Louisiana Tech Univ. (United States)
Raul Ordonez, Univ. of Dayton (United States)

Published in SPIE Proceedings Vol. 8361:
Radar Sensor Technology XVI
Kenneth I. Ranney; Armin W. Doerry, Editor(s)

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