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Title
Japanese: 
English:Collision-Free Formation Control for Quadrotor Networks Based on Distributed Quadratic Programs 
Author
Japanese: 遠藤 眞覇人, 伊吹 竜也, 三平 満司.  
English: Mahato Endo, Tatsuya Ibuki, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of 2019 American Control Conference 
Volume, Number, Page         pp. 3335/3340
Published date July 10, 2019 
Publisher
Japanese: 
English: 
Conference name
Japanese: 
English:2019 American Control Conferece 
Conference site
Japanese: 
English:Philadelphia 
Abstract This paper studies a distributed collision-free formation control problem for networked quadrotors. The quadrotor dynamics is first derived and strictly linearized. Then, the quadrotor network consisting of multiple quadrotors with the dynamics and interconnection topology between them is defined, and a consensus-based formation control law is introduced as a nominal controller. Input conditions for collision avoidance are next derived based on control barrier functions, and as the main contribution, the conditions are modified to be distributed while explicitly considering the quadrotor dynamics. This distribution enables each quadrotor to calculate the actual control input by distributed quadratic programs. This paper also presents an advanced collision avoidance method for severe situations. The effectiveness of the present controllers is demonstrated via simulation.

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