ICUAS'22 Paper Abstract

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Paper FrP5.2

Gonzalez Villarreal, Oscar Julian (Cranfield University), Tsourdos, Antonios (Cranfield University)

A Laguerre-Based Distributed Nonlinear Model Predictive Control Scheme for Dynamic Obstacle Avoidance on Multi-Rotor UAVs

Scheduled for presentation during the Poster Session "Poster Session" (FrP5), Friday, June 24, 2022, 09:00−11:00, Elafiti

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Path Planning, Networked Swarms, Multirotor Design and Control

Abstract

This paper presents a Distributed NMPC approach for the problem of Dynamic Obstacle Avoidance based on Laguerre Polynomials combined potential fields. The proposed approach aims at tackling the computational burden by using a combination of different methods to achieve a real-time performance. Moreover, the approach benefits from being able to represent the projected paths of each UAV using a significantly reduced amount of information, thus reducing the bandwidth required for a practical implementation. The paper presents a complete derivation of the proposed approach along with an algorithm for its implementation, and discusses aspects specifically related to Multi-Rotor UAV models which can help to reduce the computational burden even further. The performance of the proposed approach is demonstrated through a simulation of 50 UAVs sharing common airspace.

 

 

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