TY - GEN
T1 - Experimental validation of cooperative formation control with collision avoidance for a multi-UAV system
AU - Kuriki, Yasuhiro
AU - Namerikawa, Toru
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/6
Y1 - 2015/4/6
N2 - In this study, we consider cooperative control issues for a multi-unmanned aerial vehicle (UAV) system. Specifically, we present a cooperative formation control strategy for a multi-UAV system with unidirectional network links. Our strategy is to apply a consensus-based algorithm and leader-follower structure to the UAVs so that they can cooperatively fly in formation. The leader provides each UAV with commands to generate a geometric configuration of the formation. Convergence is guaranteed when the cooperative formation control algorithm is applied to the UAVs. Collisions among UAVs can occur when they are flying with the cooperative control UAVs. Our strategy for collision avoidance is to apply an artificial potential approach to the UAVs. Experiments are performed on multiple commercial small UAVs to validate the proposed formation control algorithm with collision-avoidance capability.
AB - In this study, we consider cooperative control issues for a multi-unmanned aerial vehicle (UAV) system. Specifically, we present a cooperative formation control strategy for a multi-UAV system with unidirectional network links. Our strategy is to apply a consensus-based algorithm and leader-follower structure to the UAVs so that they can cooperatively fly in formation. The leader provides each UAV with commands to generate a geometric configuration of the formation. Convergence is guaranteed when the cooperative formation control algorithm is applied to the UAVs. Collisions among UAVs can occur when they are flying with the cooperative control UAVs. Our strategy for collision avoidance is to apply an artificial potential approach to the UAVs. Experiments are performed on multiple commercial small UAVs to validate the proposed formation control algorithm with collision-avoidance capability.
UR - http://www.scopus.com/inward/record.url?scp=84928775240&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84928775240&partnerID=8YFLogxK
U2 - 10.1109/ICARA.2015.7081204
DO - 10.1109/ICARA.2015.7081204
M3 - Conference contribution
AN - SCOPUS:84928775240
T3 - ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications
SP - 531
EP - 536
BT - ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications
A2 - Bailey, Donald
A2 - Gupta, G. Sen
A2 - Demidenko, Serge
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Automation, Robotics and Applications, ICARA 2015
Y2 - 17 February 2015 through 19 February 2015
ER -