UAV Coordination via Virtual Attraction and Repulsion Forces
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Solution Overview
Problem
Existing autonomous systems face challenges in designing practical and implementable approaches for autonomous coordination of agents in dynamic environments, particularly in applications like persistent surveillance and communications relay, where low-cost, adaptable, and collaborative control of UAVs is required without continuous human supervision.
Innovation Solution
A method and system utilizing attraction and repulsion forces to guide UAVs towards points of interest while maintaining separation, allowing them to adaptively coordinate and respond to detected points of interest without predefined maps or beacons, using a processing device to calculate attraction and repulsion forces and adjust their direction accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If multiple UAVs are deployed to cover large areas for persistent surveillance, then the surveillance coverage area increases, but the risk of collisions between UAVs increases
Solution Approach 1:
The patent introduces virtual force fields (attraction and repulsion forces) as intermediaries to mediate the interaction between multiple UAVs. Each UAV calculates repulsion forces from nearby UAVs and attraction forces to POIs, allowing them to maintain safe separation distances while coordinating their movements to cover multiple POIs without collisions
Solution Approach 2:
The system dynamically changes the parameters of force calculations based on real-time conditions. The repulsion force magnitude changes with distance between UAVs, and the attraction force changes with distance to POIs. This allows UAVs to adapt their trajectories dynamically, maintaining coverage while avoiding collisions
2Productivity
If UAVs are autonomously coordinated without human supervision, then the operational efficiency increases, but the complexity of control algorithms increases
Solution Approach 1:
Each UAV independently calculates its own attraction and repulsion forces based on its sensor data and position relative to other UAVs and POIs. The autonomous system serves itself by making decentralized decisions without requiring centralized control, achieving operational efficiency through self-organized coordination
Solution Approach 2:
The patent replaces complex mechanical control systems with a virtual force field model. Instead of using intricate communication protocols or centralized control algorithms, the system uses simplified force calculations (attractive and repulsive forces) that are computationally efficient and easier to implement while achieving autonomous coordination
3Reliability
If UAVs maintain separation distances to prevent collisions, then the safety increases, but the coordination efficiency decreases
Solution Approach 1:
The separation distance between UAVs is not fixed but dynamically adjusted based on real-time conditions. The repulsion force creates a virtual barrier that maintains safety margins while allowing UAVs to close distances when necessary to efficiently cover POIs. This dynamic adjustment optimizes both safety and coordination efficiency
Data Source
AI summary
A method of controlling movement of an agent operating within an autonomous system includes determining, using a processing device associated with the agent, at least one point of interest (POI) within an area of operation by the autonomous system; determining, from the at least one POI, a POI of highest attraction for the agent and calculating an attraction force for the agent, based on the location of the POI of highest attraction; determining proximity of the agent to one or more additional agents operating within the autonomous system, and calculating a repulsion force for the agent so as to maintain a minimum separating distance between the agent and the one or more additional agents; calculating a resultant force for the agent based on the attraction force and the repulsion force; and changing a direction of the agent based on the resultant force.