MultiUAV: a multiple UAV simulation for investigation of cooperative control

This paper describes MultiUAV, a simulation that is capable of simulating multiple unmanned aerospace vehicles which cooperate to accomplish a predefined mission. The simulation was constructed using the Mathwork´s Simulink simulation software. Construction of the simulation satisfied the need for a simulation environment that researchers can use to implement and analyze cooperative control algorithms. The simulation is implemented in a hierarchical manner with inter-vehicle communication explicitly modeled. During construction of MultiUAV, issues concerning memory usage and functional encapsulation were addressed. MultiUAV includes plotting tools and links to an external program for post-simulation analysis. Each of the vehicle simulations include six-degree-of-freedom dynamics and embedded flight software. The embedded flight software consists of a collection of managers (agents) that control situational awareness and responses of the vehicles. Managers included in the simulation are: tactical maneuvering, sensor, target, cooperation, route and weapons.