Waypoint guidance of cooperative UAVs for intelligence, surveillance and reconnaissance

Abstract

This thesis proposes some strategies to operate intelligence, surveillance and reconnaissance(ISR) mission using cooperative UAVs under known fixed threats. First of all, the strategy to select a next waypoint named Waypoint Planning Strategy(WPS) will be introduced. It selects a waypoint with the lowest cost after computing various costs using each cost functions. Then two strategies will be introduced to make UAVs fly toward it and compared their performance each other. Such are named Trajectory Planning Strategy(TPS) and Lyapunov Vector Field(LVF). After then, guidance commands will be drawn in consideration of dynamic constraint of UAVs. This algorithm has good flexibility about many kinds of missions in real world and can be implemented easily without much modification.