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Helicopter Formation Control Algorithm for Manned-Unmanned Teaming

机译:载人无人联队的直升机编队控制算法

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Manned-Unmanned Teaming creates opportunities to increase mission performance of close formation flight for military and civil uses. Currently, the close flight of two helicopters, one manned aircraft and one unmanned aircraft system (UAS), within a shared airspace organized as a mixed formation creates high pilot workload due to maintaining the formation and avoiding collisions at the same time. The work presented in this paper approaches this high workload and safety problem and introduces two different strategies implemented as controllers to automate the UAS for the formation flight. In addition to flight results, this paper presents the design and implementation of the formation strategies and highlights the process within a simulation framework of their development, tuning, and testing. The simulation framework also facilitated finding of suitable safety constraints for the formation controllers and the flight test. One developed strategy, the so called Corridor Mode, reduces crew workload, increases flight safety, and enabled the coupling of a manned and an unmanned helicopter in a close formation during a real flight test campaign.
机译:无人驾驶联队为军事和民用近距离编队飞行创造了提高飞行任务性能的机会。当前,在由混合编队组成的共享空域内,两架直升机,一架有人驾驶飞机和一架无人驾驶飞机系统(UAS)的近距离飞行由于维持编队并避免碰撞而造成高飞行员工作量。本文提出的工作解决了这一高工作量和安全性问题,并介绍了两种不同的策略,这些策略被实现为用于编队飞行的UAS自动化的控制器。除飞行结果外,本文还介绍了编队策略的设计和实施,并重点介绍了其开发,调整和测试的仿真框架内的过程。模拟框架还有助于为编队控制器和飞行测试找到合适的安全约束。一种开发的策略,即所谓的走廊模式,可以减少机组人员的工作量,提高飞行安全性,并可以在实际飞行测试活动中将有人和无人直升机紧密结合。

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