로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제6권2호
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  • Pages.97-107
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  • 2011
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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에어노드 기반 무선센서네트워크 구축을 위한 적응형 오르막경사법 기반의 자율무인비행로봇제어

Autonomous Unmanned Flying Robot Control for Reconfigurable Airborne Wireless Sensor Networks Using Adaptive Gradient Climbing Algorithm

  • Lee, Deok-Jin (Korean Air R&D Center & Electronics and Information Engineering Division, Chonbuk National University)
  • 투고 : 2010.07.21
  • 심사 : 2011.05.23
  • 발행 : 2011.05.31
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초록

This paper describes efficient flight control algorithms for building a reconfigurable ad-hoc wireless sensor networks between nodes on the ground and airborne nodes mounted on autonomous vehicles to increase the operational range of an aerial robot or the communication connectivity. Two autonomous flight control algorithms based on adaptive gradient climbing approach are developed to steer the aerial vehicles to reach optimal locations for the maximum communication throughputs in the airborne sensor networks. The first autonomous vehicle control algorithm is presented for seeking the source of a scalar signal by directly using the extremum-seeking based forward surge control approach with no position information of the aerial vehicle. The second flight control algorithm is developed with the angular rate command by integrating an adaptive gradient climbing technique which uses an on-line gradient estimator to identify the derivative of a performance cost function. They incorporate the network performance into the feedback path to mitigate interference and noise. A communication propagation model is used to predict the link quality of the communication connectivity between distributed nodes. Simulation study is conducted to evaluate the effectiveness of the proposed reconfigurable airborne wireless networking control algorithms.

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참고문헌

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