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Distributed Cooperative Avoidance Control for Multi-Unmanned Aerial Vehicles

Temasek Lab., National University of Singapore, Singapore 117411, Singapore
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Actuators 2019, 8(1), 1; https://doi.org/10.3390/act8010001
Received: 16 October 2018 / Revised: 21 November 2018 / Accepted: 19 December 2018 / Published: 21 December 2018
It is well-known that collision-free control is a crucial issue in the path planning of unmanned aerial vehicles (UAVs). In this paper, we explore the collision avoidance scheme in a multi-UAV system. The research is based on the concept of multi-UAV cooperation combined with information fusion. Utilizing the fused information, the velocity obstacle method is adopted to design a decentralized collision avoidance algorithm. Four case studies are presented for the demonstration of the effectiveness of the proposed method. The first two case studies are to verify if UAVs can avoid a static circular or polygonal shape obstacle. The third case is to verify if a UAV can handle a temporary communication failure. The fourth case is to verify if UAVs can avoid other moving UAVs and static obstacles. Finally, hardware-in-the-loop test is given to further illustrate the effectiveness of the proposed method. View Full-Text
Keywords: cooperative control; distributed control; unmanned aerial vehicles cooperative control; distributed control; unmanned aerial vehicles
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Huang, S.; Teo, R.S.H.; Liu, W. Distributed Cooperative Avoidance Control for Multi-Unmanned Aerial Vehicles. Actuators 2019, 8, 1.

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