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.


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    Titel :

    Integrated Model Predictive Control for Cooperative UAVs: Trajectory Tracking and Obstacle Avoidance


    Beteiligte:
    Yang, Xin (Autor:in) / Vepa, Ranjan (Autor:in) / Shaheed, Mohammad Hasan (Autor:in)


    Erscheinungsdatum :

    11.11.2024


    Format / Umfang :

    1451362 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch