Distributed MPC based Collision Avoidance Approach for Consensus of Multiple Quadcopters

Dubay, Shaundell; Pan, Ya‐Jun

doi:10.1109/icca.2018.8444273

Cited by 12 publications

(15 citation statements)

References 15 publications

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“…Below, we compare proposed the • ∞ -based collision detection algorithm with the standard • 2 approach. As mentioned in Section I, several references (see [8], [9], [16], [17]) considered the area around obstacles by using • 2 to detect the collision. Unfortunately, covering the obstacles with a cylindrical area using • 2 may generate a blind zone, which causes the collision.…”

Section: ) • ∞-Based Collision Detection Algorithmmentioning

confidence: 99%

“…In addition to the approaches mentioned above, there have been various studies for the collision avoidance within the framework of the L 2 -norm ( • 2 ) [8], [9], [16], [17]. However, there are two drawbacks in the collision detection with • 2 .…”

mentioning

confidence: 99%

“…However, there are two drawbacks in the collision detection with • 2 . First, in [8], [9], [16], [17], covering the obstacles with cylindrical area using • 2 could have the undetectable zone of the obstacles. This may lead to the collision of the quadrotor when it passes the undetectable zone of the obstacles.…”

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confidence: 99%

“…This may lead to the collision of the quadrotor when it passes the undetectable zone of the obstacles. Second, the approaches in [8], [9], [16], [17] considered the case when the obstacles are single dots, which are covered by the cylindrical area using • 2 . However, since there are various shapes of obstacles in real applications, it is impossible to treat the obstacles as single dots.…”

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confidence: 99%

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Infinity-Norm-Based Worst-Case Collision Avoidance Control for Quadrotors

Lee

Moon

2021

IEEE Access

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In this paper, we propose the • ∞ -based worst-case collision avoidance control system for quadrotors with the collision detector. The associated worst-case collision avoidance is captured via the L ∞ -norm ( • ∞ ) in R 3 (equivalently the cube in R 3 ). With the proposed • ∞ -based collision avoidance approach, the quadrotors are able to avoid any obstacles that cannot be detected by the standard L 2 -norm ( • 2 ) in R 3 (the cylinder in R 3 ). In our proposed collision avoidance method, the obstacle approximation algorithm approximates the true coordinates of obstacles by simple integer values to reduce computational complexity. Then the approximated obstacle is surrounded by • ∞ to cover the actual obstacle. Note that the actual obstacle may not be covered if we use standard • 2 , which can cause the collision. We then design the collision detector and the Model Predictive Control (MPC) tracker, where the latter generates the optimal trajectory for the quadrotor by cooperating with the proposed collision detector. The optimal trajectory generated by the MPC tracker is regarded as the reference input for the quadrotor without collision, where the quadrotor is controlled by the modified backstepping controller. To validate the proposed approach, we carry out the hardware-in-the-loop simulations (HILS) and experiments. Specifically, we show the superiority of the proposed • ∞ -based collision avoidance performance, by comparing it with the standard • 2 -base approach in various maneuver situations of the quadrotor.

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Section: ) • ∞-Based Collision Detection Algorithmmentioning

confidence: 99%

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confidence: 99%

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confidence: 99%

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confidence: 99%

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Infinity-Norm-Based Worst-Case Collision Avoidance Control for Quadrotors

Lee

Moon

2021

IEEE Access

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“…The computational heavy calculation process limited their application on quadcopter systems in the past, but modern model variations and the latest progress of on-board processing capabilities enable more widespread usage on these systems. Several authors present works based on MPC, e.g., hierarchical MPC controllers [16][17][18][19], leader-follower approaches [20], a distributed MPC based collision avoidance controller [21], local linear time-invariant MPC controllers [22,23], and for decoupling the formation control into horizontal and vertical motions [24]. Furthermore, Kamel et al gives an overview [25] on different (modern) MPC variations, its design for multirotor systems, and implementation in Robot Operating System (ROS).…”

Section: Related Workmentioning

confidence: 99%

Towards Self-Aware Multirotor Formations

et al. 2020

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In the present day, unmanned aerial vehicles become seemingly more popular every year, but, without regulation of the increasing number of these vehicles, the air space could become chaotic and uncontrollable. In this work, a framework is proposed to combine self-aware computing with multirotor formations to address this problem. The self-awareness is envisioned to improve the dynamic behavior of multirotors. The formation scheme that is implemented is called platooning, which arranges vehicles in a string behind the lead vehicle and is proposed to bring order into chaotic air space. Since multirotors define a general category of unmanned aerial vehicles, the focus of this thesis are quadcopters, platforms with four rotors. A modification for the LRA-M self-awareness loop is proposed and named Platooning Awareness. The implemented framework is able to offer two flight modes that enable waypoint following and the self-awareness module to find a path through scenarios, where obstacles are present on the way, onto a goal position. The evaluation of this work shows that the proposed framework is able to use self-awareness to learn about its environment, avoid obstacles, and can successfully move a platoon of drones through multiple scenarios.

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Distributed dynamic matrix control with constrained optimization for collision and obstacle avoidance of simulated multiple quadcopters

Dubay

Pan

2023

Asian Journal of Control

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A system of fast moving quadcopters has a high risk of collisions with neighboring quadcopters or obstacles. The objective of this work is to develop a control strategy for collision and obstacle avoidance of multiple quadcopters. In this paper, the problem of distributed dynamic matrix control (DMC) for collision avoidance among a team of multiple quadcopters attempting to reach consensus in the horizontal plane and yaw direction ( , and ) is investigated. Violations of a predetermined safety radius generates output constraints on the DMC optimization function, which has not been dealt with in the literature. Different from past works, the proposed strategy can perform collision avoidance in the , , and ‐directions. In addition, logarithmic barrier functions are implemented as input rate constraints on the control actions. Extensive simulation studies for a team of quadcopters illustrate promising results of the proposed control strategy and case variations. In addition, DMC parameter effects on the system performance are studied, and a successful study for obstacle avoidance is presented.

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Distributed MPC based Collision Avoidance Approach for Consensus of Multiple Quadcopters

Cited by 12 publications

References 15 publications

Infinity-Norm-Based Worst-Case Collision Avoidance Control for Quadrotors

Infinity-Norm-Based Worst-Case Collision Avoidance Control for Quadrotors

Towards Self-Aware Multirotor Formations

Distributed dynamic matrix control with constrained optimization for collision and obstacle avoidance of simulated multiple quadcopters

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