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

Marc Ille, Toru Namerikawa

研究成果: Conference contribution

21 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ651-656
ページ数6
ISBN(電子版)9781509059980
DOI
出版ステータスPublished - 2017 8月 21
イベント2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
継続期間: 2017 7月 32017 7月 7

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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