Consensus-based cooperative formation control with collision avoidance for a multi-UAV system

Yasuhiro Kuriki, Toru Namerikawa

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

95 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2077-2082
Number of pages6
ISBN (Print)9781479932726
DOIs
Publication statusPublished - 2014
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: 2014 Jun 42014 Jun 6

Other

Other2014 American Control Conference, ACC 2014
CountryUnited States
CityPortland, OR
Period14/6/414/6/6

Fingerprint

Collision avoidance
Unmanned aerial vehicles (UAV)

Keywords

  • Cooperative control
  • Linear systems
  • Multivehicle systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Kuriki, Y., & Namerikawa, T. (2014). Consensus-based cooperative formation control with collision avoidance for a multi-UAV system. In Proceedings of the American Control Conference (pp. 2077-2082). [6858777] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2014.6858777

Consensus-based cooperative formation control with collision avoidance for a multi-UAV system. / Kuriki, Yasuhiro; Namerikawa, Toru.

Proceedings of the American Control Conference. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2077-2082 6858777.

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

Kuriki, Y & Namerikawa, T 2014, Consensus-based cooperative formation control with collision avoidance for a multi-UAV system. in Proceedings of the American Control Conference., 6858777, Institute of Electrical and Electronics Engineers Inc., pp. 2077-2082, 2014 American Control Conference, ACC 2014, Portland, OR, United States, 14/6/4. https://doi.org/10.1109/ACC.2014.6858777
Kuriki Y, Namerikawa T. Consensus-based cooperative formation control with collision avoidance for a multi-UAV system. In Proceedings of the American Control Conference. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2077-2082. 6858777 https://doi.org/10.1109/ACC.2014.6858777
Kuriki, Yasuhiro ; Namerikawa, Toru. / Consensus-based cooperative formation control with collision avoidance for a multi-UAV system. Proceedings of the American Control Conference. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 2077-2082
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