A hierarchical MPC (Model based Predictive Control) strategy is proposed for autonomous navigation of a formation of unmanned aerial vehicles (UAVs) of quadcopter type under obstacle and collision avoidance constraints. Each vehicle is stabilized by a lower-level local linear MPC controller around a desired position, that is generated, at a slower sampling rate, by a hybrid MPC controller per vehicle. Such an upper control layer is based on a hybrid dynamical model of the UAV in closed-loop with its linear MPC controller and of its surrounding environment (i.e., the other UAVs and obstacles). The resulting decentralized scheme controls the formation based on a leader-follower approach. The performance of the hierarchical control scheme is assessed through simulations and comparisons with other path planning strategies, showing the ability of linear MPC to handle the strong couplings among the dynamical variables of each quadcopter under motor voltage and angle/position constraints, and the flexibility of the decentralized hybrid MPC scheme in planning the desired paths on-line.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Decentralized hybrid model predictive control of a formation of unmanned aerial vehicles


    Beteiligte:
    Bemporad, A. (Autor:in) / Rocchi, C. (Autor:in)


    Erscheinungsdatum :

    2011


    Format / Umfang :

    7 Seiten, 4 Bilder, 3 Tabellen, 27 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Datenträger


    Sprache :

    Englisch





    Cooperative Unmanned Aerial Vehicles formation via decentralized LBMPC

    Hafez, Ahmed. T. / Givigi, Sidney. N. / Yousefi, Shahram. et al. | IEEE | 2015


    Unmanned aerial vehicles formation using learning based model predictive control

    Hafez, Ahmed T. / Givigi, Sidney N. / Yousefi, Shahram | British Library Online Contents | 2018


    Distributed model predictive control for unmanned aerial vehicles

    Mansouri, Sina Sharif / Nikolakopoulos, George / Gustafsson, Thomas | IEEE | 2015


    Hybrid formation control of the Unmanned Aerial Vehicles

    Karimoddini, Ali / Lin, Hai / Chen, Ben M. et al. | Tema Archiv | 2011