NDLI: Formation flight control of multirotor helicopters with collision avoidance

Content Provider	IEEE Xplore Digital Library
Author	Bezerra Viana, I. Afonso Acampora Prado, I. Antonio dos Santos, D. Carlos Sandoval Goes, L.
Copyright Year	2015
Description	Author affiliation: Inst. Tecnol. de Aeronaut., Sao José dos Campos, Brazil (Bezerra Viana, I.; Afonso Acampora Prado, I.; Antonio dos Santos, D.; Carlos Sandoval Goes, L.)
Abstract	Among the main sub-areas covering the cooperative control problem of Unmanned Aerial Vehicles (UAVs), formation flight has attracted great interest and has been widely investigated. The main purpose of the formation flight control is to establish a desired shape of formation for a group of vehicles by controlling the positions of each vehicle. The present paper deals with the problem of position formation flight control of a group of three multirotor helicopters with collision avoidance. In order to solve the problem, we propose a decentralized scheme based on model predictive controllers (MPC) for formation according to a virtual structure approach. For collision avoidance, a set of convex constraints on the vehicle's positions are included. The proposed method is evaluated on the basis of computational simulations considering that the vehicles are subject to disturbance forces. Simulation results show the effectiveness of the method with primary focus on treatment of anti-collision constraints.
Starting Page	757
Ending Page	764
File Size	1457176
Page Count	8
File Format	PDF
e-ISBN	9781479960101
DOI	10.1109/ICUAS.2015.7152359
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Attitude control Computational modeling Helicopters State-space methods Mathematical model Collision avoidance Vehicles
Content Type	Text
Resource Type	Article

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