Formation control with collision avoidance for a multi-UAV system using decentralized MPC and consensus-based control

Yasuhiro Kuriki, Toru Namerikawa

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

18 Citations (Scopus)

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 languageEnglish
Title of host publication2015 European Control Conference, ECC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3079-3084
Number of pages6
ISBN (Print)9783952426937
DOIs
Publication statusPublished - 2015 Nov 16
EventEuropean Control Conference, ECC 2015 - Linz, Austria
Duration: 2015 Jul 152015 Jul 17

Other

OtherEuropean Control Conference, ECC 2015
CountryAustria
CityLinz
Period15/7/1515/7/17

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Kuriki, Y., & Namerikawa, T. (2015). Formation control with collision avoidance for a multi-UAV system using decentralized MPC and consensus-based control. In 2015 European Control Conference, ECC 2015 (pp. 3079-3084). [7331006] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ECC.2015.7331006