The growing interest in the collaborative achievement of diverse tasks in complex environments by multiple unmanned aerial vehicles (UAVs) has garnered significant attention. This paper is dedicated to the study of cooperative control and obstacle avoidance for UAVs, presenting a novel, integrated solution based on model predictive control that encompasses trajectory tracking and obstacle avoidance. The paper adopts the UAV's complete dynamic model instead of a particle model, and integrates obstacle avoidance at the control layer, ensuring the feasibility of UAV obstacle avoidance. The effectiveness of the proposed algorithm is substantiated through numerous numerical simulations that consider both static and dynamic obstacles.
Integrated Model Predictive Control for Cooperative UAVs: Trajectory Tracking and Obstacle Avoidance
11.11.2024
1451362 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Cooperative path planning with applications to target tracking and obstacle avoidance for multi-UAVs
Online Contents | 2016
|Vision-Based Obstacle Avoidance for UAVs
AIAA | 2007
|