マルチエージェントUAVのためのスケーラブルな分散衝突回避手法
A Scalable Distributed Collision Avoidance Scheme for Multi-agent UAV systems
各エージェントが予測軌道を共有し、他機を動的障害物として扱うNMPCベースの分散衝突回避を提案。最大10機の密集群で実験検証した。
著者: Björn Lindqvist, Pantelis Sopasakis, George Nikolakopoulos
分類: cs.RO
原文アブストラクト
In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other agents in the system are considered as dynamic obstacles with respect to the ego agent. Our control scheme operates at a low level and commands roll, pitch and thrust signals at a high frequency, each agent broadcasts its predicted trajectory to the other ones, and we propose an obstacle prioritization scheme based on the shared trajectories to allow up-scaling of the system. The NMPC problem is solved using an ad hoc solver where PANOC is combined with an augmented Lagrangian method to compute collision-free trajectories. We evaluate the proposed scheme in several challenging laboratory experiments for up to ten aerial agents, in dense aerial swarms.
