TY - GEN
T1 - Consensus-based cooperative formation control with collision avoidance for a multi-UAV system
AU - Kuriki, Yasuhiro
AU - Namerikawa, Toru
PY - 2014/1/1
Y1 - 2014/1/1
N2 - In this paper, we study cooperative control problems with a multi-UAV system. Specifically, we propose a c consensus-based cooperative formation control strategy with collision-avoidance capability for a group of multiple unmanned aerial vehicles (UAVs). To cooperatively fly in formation, a consensus-based algorithm and a leader-follower structure are applied to the UAVs. Collisions among the UAVs can occur while they are flying with the cooperative control algorithm. Therefore, we describe how the cooperatively controlled UAVs avoid collisions while they are flying to desired position for formation. The collision-avoidance strategy is based on an artificial potential approach. The convergence is guaranteed even when the cooperative formation control algorithm and the collision-avoidance control algorithm are simultaneously applied to the quadrotors. Finally, the proposed approach is validated by some simulations.
AB - In this paper, we study cooperative control problems with a multi-UAV system. Specifically, we propose a c consensus-based cooperative formation control strategy with collision-avoidance capability for a group of multiple unmanned aerial vehicles (UAVs). To cooperatively fly in formation, a consensus-based algorithm and a leader-follower structure are applied to the UAVs. Collisions among the UAVs can occur while they are flying with the cooperative control algorithm. Therefore, we describe how the cooperatively controlled UAVs avoid collisions while they are flying to desired position for formation. The collision-avoidance strategy is based on an artificial potential approach. The convergence is guaranteed even when the cooperative formation control algorithm and the collision-avoidance control algorithm are simultaneously applied to the quadrotors. Finally, the proposed approach is validated by some simulations.
KW - Cooperative control
KW - Linear systems
KW - Multivehicle systems
UR - http://www.scopus.com/inward/record.url?scp=84905686878&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84905686878&partnerID=8YFLogxK
U2 - 10.1109/ACC.2014.6858777
DO - 10.1109/ACC.2014.6858777
M3 - Conference contribution
AN - SCOPUS:84905686878
SN - 9781479932726
T3 - Proceedings of the American Control Conference
SP - 2077
EP - 2082
BT - 2014 American Control Conference, ACC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 American Control Conference, ACC 2014
Y2 - 4 June 2014 through 6 June 2014
ER -