A simulation test bed for coordination of unmanned rotorcraft and ground vehicles

Murat Yasar, Derek O. Bridges, Goutham Mallapragada, Joseph F. Horn

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

This paper presents the development of a simulation test bed for a command, control, computer, communication, intelligence, surveillance and reconnaissance (C4ISR) system. The test bed features coordination of a rotorcraft unmanned aerial vehicle (RUAV) and multiple unmanned ground vehicles (UGVs) by integrating a high-fidelity rotorcraft model with actual ground-based robots that emulate UGVs. The RUAV component of the test bed is realized on a networked computer simulation, whereas networked robotics hardware is employed for the UGV representation. The RUAV dynamics run a high-fidelity nonlinear simulation model of a UH-60A Black Hawk helicopter. To emulate the dynamics of the UGVs, several networked Segway robots are employed. The proposed C4ISR system undertakes the task of mission management from the top level discrete-event supervision (DES) to the bottom level continuous-time regulation.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages400-412
Number of pages13
ISBN (Print)1563478218, 9781563478215
DOIs
StatePublished - 2006
EventAIAA Modeling and Simulation Conference, 2006 - Keystone, CO, United States
Duration: Aug 21 2006Aug 24 2006

Publication series

NameCollection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006
Volume1

Other

OtherAIAA Modeling and Simulation Conference, 2006
CountryUnited States
CityKeystone, CO
Period8/21/068/24/06

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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  • Cite this

    Yasar, M., Bridges, D. O., Mallapragada, G., & Horn, J. F. (2006). A simulation test bed for coordination of unmanned rotorcraft and ground vehicles. In Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006 (pp. 400-412). (Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006; Vol. 1). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2006-6263