Subsumption architecture applied to flight control using composite rotations

• Espen Oland ^[1] ; Tom Stian Andersen ^[1] ; Raymond Kristiansen ^[1]
  1. [1] The Arctic University of Norway

     The Arctic University of Norway

     Noruega

     
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 69, 2016, págs. 195-200
• Idioma: inglés
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• Resumen

  • In this paper the subsumption theory is applied to flight control through composite rotations where multiple tasks can be defined as simple rotations. The tasks can then be arranged as a hierarchy, where the primary task is always fully pursued, and conflicting lower level tasks are removed by the primary rotation. The concept is applied to a group of uavs that move through an urban terrain while avoiding collisions with the ground, the buildings and other uavs as they track a desired waypoint.