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

Marc Ille; Toru Namerikawa

doi:10.1109/AIM.2017.8014091

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

Marc Ille, Toru Namerikawa

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 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 language	English
Title of host publication	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	651-656
Number of pages	6
ISBN (Electronic)	9781509059980
DOIs	https://doi.org/10.1109/AIM.2017.8014091
Publication status	Published - 2017 Aug 21
Event	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: 2017 Jul 3 → 2017 Jul 7

Other

Other	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Country	Germany
City	Munich
Period	17/7/3 → 17/7/7

ASJC Scopus subject areas

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

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10.1109/AIM.2017.8014091

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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

Collision Avoidance between Multi-UAV-Systems considering Formation Control using MPC. / Ille, Marc; Namerikawa, Toru.

2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 651-656 8014091.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 8014091, Institute of Electrical and Electronics Engineers Inc., pp. 651-656, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 17/7/3. https://doi.org/10.1109/AIM.2017.8014091

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