Simulating Multiple Micro-Aerial Vehicles and a Small Unmanned Aerial Vehicle in Urban Terrain Using MultiUAV2

摘要

Much of modern warfare is conducted in built-up areas. This has created challenges in detecting and tracking potential targets. Because of their size micro-aerial vehicles (MAVs) can be used to get in close to identify and track targets. The ability of MAVs to perform visual surveillance of 'over-the-horizon' targets is limited by their range. The MAV's usefulness can be enhanced by releasing them from small uninhabited aerial vehicles (SUAVs) over the urban area. This paper details the components necessary to simulate MAVs being dropped into urban areas, in teams, to perform surveillance on pre-identified targets. The mission is explained. After that we describe MultiUAV2, the MAV and SUAV dynamics models, the mission sensor, and the urban terrain model, and the built-up area wind model.