Abstract
In this paper, we propose a cooperative formation control strategy with collision-avoidance capability for a multi-unmanned aerial vehicle (UAV) system by using decentralized model predictive control (MPC) and consensus-based control. Each of the UAVs plans only its own action to track a trajectory. The trajectory is planned for desired formation flying using a consensus-based control algorithm. Collision-avoidance is regarded as coupled constraints. We show how the optimization problems with collision-avoidance can be solved by each UAV in parallel with the other UAVs so that decisions taken independently by each UAV can ensure consistency with the coupled constraints of collision-avoidance. In addition, we show that our proposed approach hardly affects the computation time to solve the optimization problems with collision-avoidance compared to the time for solving the problems without collision-avoidance. Finally, the proposed approach is validated by simulations.
| Original language | English |
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| Title of host publication | 2015 European Control Conference, ECC 2015 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 3079-3084 |
| Number of pages | 6 |
| ISBN (Print) | 9783952426937 |
| DOIs | |
| Publication status | Published - 2015 Nov 16 |
| Event | European Control Conference, ECC 2015 - Linz, Austria Duration: 2015 Jul 15 → 2015 Jul 17 |
Other
| Other | European Control Conference, ECC 2015 |
|---|---|
| Country/Territory | Austria |
| City | Linz |
| Period | 15/7/15 → 15/7/17 |
ASJC Scopus subject areas
- Control and Systems Engineering