Experimental validation of cooperative formation control with collision avoidance for a multi-UAV system

Yasuhiro Kuriki, Toru Namerikawa

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

15 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications
EditorsDonald Bailey, Serge Demidenko, G. Sen Gupta
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages531-536
Number of pages6
ISBN (Electronic)9781479964666
DOIs
Publication statusPublished - 2015 Apr 6
Event6th International Conference on Automation, Robotics and Applications, ICARA 2015 - Queenstown, New Zealand
Duration: 2015 Feb 172015 Feb 19

Publication series

NameICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications

Other

Other6th International Conference on Automation, Robotics and Applications, ICARA 2015
CountryNew Zealand
CityQueenstown
Period15/2/1715/2/19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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