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

Yasuhiro Kuriki, Toru Namerikawa

研究成果: Conference contribution

16 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications
編集者Donald Bailey, G. Sen Gupta, Serge Demidenko
出版社Institute of Electrical and Electronics Engineers Inc.
ページ531-536
ページ数6
ISBN(電子版)9781479964666
DOI
出版ステータスPublished - 2015 4月 6
イベント6th International Conference on Automation, Robotics and Applications, ICARA 2015 - Queenstown, New Zealand
継続期間: 2015 2月 172015 2月 19

出版物シリーズ

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

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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