Aerospace Blockset 3.4

Multiple Unmanned Air Vehicles with Collaborative Control

This model shows a complete simulation of multiple unmanned air vehicles (UAVs), with emphasis on the necessary requirements and the realized benefits in making the simulation vectorized so that it can easily be updated for an arbitrary number of vehicles. To perform their avoidance task, this autonomous set of UAVs uses cooperative control.

This model uses color coding to aid in locating Aerospace Blockset™ blocks. The red blocks are Aerospace Blockset blocks, the orange blocks are subsystems that contain additional Aerospace Blockset blocks, and the white blocks are Simulink® blocks.

The simulation was developed using:

- Simulink and Aerospace Blockset software, which allow for a hierarchal block diagram representation to include the control laws and vehicle models. - Aerospace Blockset MATLAB® Animation block, to visualize the simulation.

The MATLAB Animation Display subsystem contains the MATLAB Animation block. There are three types of bodies. The blue body is the first body in the formation. It is the target of the camera. The second and third bodies in the formation are red. The two black bodies represent the obstacles.

The basis of this simulation comes from previous research performed in the study of aircraft formation flight in the context of cooperative game theory and the natural aggregate motion of flocking birds, schooling fish, and the herding of land animals. Inc.