Collision Avoidance between Multi-UAV-Systems considering Formation Control using MPC

Marc Ille, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper deals with the scenario of two multi- UAV systems (so-called teams), each flying from a starting point to a target point. The teams meet on their ways and have to avoid collisions in the horizontal plane. Both teams work independent of each other but use the same formationcontrol and obstacle-collision-avoidance algorithm. The leaders measure obstacles' positions, use a Kalman Filter to estimate their movement and predict their future positions. With the information about the other agents' positions each agent calculates its reference trajectory. The leader also computes a trajectory to guide the team towards the target point. Distributed MPC is used for each agent to track its reference trajectory. If there is a risk of colliding with an obstacle, the MPC cost function is extended by a penalty term to ensure obstacle collision avoidance. The stability of formation control is proved in this paper. The capability of two teams avoiding collisions is shown in a simulation.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages651-656
Number of pages6
ISBN (Electronic)9781509059980
DOIs
Publication statusPublished - 2017 Aug 21
Event2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Duration: 2017 Jul 32017 Jul 7

Other

Other2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
CountryGermany
CityMunich
Period17/7/317/7/7

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Ille, M., & Namerikawa, T. (2017). Collision Avoidance between Multi-UAV-Systems considering Formation Control using MPC. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 651-656). [8014091] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8014091