フラットネスに基づく有限時間マルチUAV編隊軌道計画と方向認識型衝突回避追従
Flatness-based Finite-Horizon Multi-UAV Formation Trajectory Planning and Directionally Aware Collision Avoidance Tracking
UAVの微分フラットネスを利用し、数値解法に頼らずに有限時間で編隊軌道を計画し、前方のUAVを優先する方向認識型衝突回避を組み込んだ追従制御を提案した。
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著者: Hossein B. Jond, Logan Beaver, Martin Jiroušek, Naiemeh Ahmadlou, Veli Bakırcıoğlu, Martin Saska
分類: cs.RO
原文アブストラクト
Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative collision-free finite-time formation control scheme for multiple UAVs leveraging the differential flatness of the UAV dynamics, eliminating the need for numerical methods. We formulate a finite-time optimal control problem to plan a formation trajectory for feasible initial states. This optimal control problem in formation trajectory planning involves a collective performance index to meet the formation requirements to achieve relative positions and velocity consensus. It is solved by applying Pontryagin's principle. Subsequently, a collision-constrained regulating problem is addressed to ensure collision-free tracking of the planned formation trajectory. The tracking problem incorporates a directionally aware collision avoidance strategy that prioritizes avoiding UAVs in the forward path and relative approach. It assigns lower priority to those on the sides with an oblique relative approach, disregarding UAVs behind and not in the relative approach. The high-fidelity simulation results validate the effectiveness of the proposed control scheme.
