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首页> 外文期刊>IEEE Transactions on Robotics >Agile Coordination and Assistive Collision Avoidance for Quadrotor Swarms Using Virtual Structures
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Agile Coordination and Assistive Collision Avoidance for Quadrotor Swarms Using Virtual Structures

机译：使用虚拟结构的四旋翼群的敏捷协调和辅助碰撞避免

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This paper presents a method for controlling a swarm of quadrotors to perform agile interleaved maneuvers while holding a fixed relative formation, or transitioning between different formations. The method prevents collisions within the swarm, as well as between the quadrotors and static obstacles in the environment. The method is built upon the existing notion of a virtual structure, which serves as a framework with which to plan and execute complex interleaved trajectories, and also gives a simple, intuitive interface for a single human operator to control an arbitrarily large aerial swarm in real time. The virtual structure concept is integrated with differential flatness-based feedback control to give an end-to-end integrated swarm teleoperation system. Collision avoidance is achieved by using multiple layered potential fields. Our method is demonstrated in hardware experiments with groups of 3-5 quadrotors teleoperated by a single human operator, and simulations of 200 quadrotors teleoperated by a single human operator.
机译：本文提出了一种控制四旋翼飞行器群的方法，以在保持固定相对编队或在不同编队之间过渡的同时执行敏捷交错式机动。该方法可防止群内以及四旋翼与环境中的静态障碍物之间发生碰撞。该方法基于虚拟结构的现有概念构建，该虚拟结构用作计划和执行复杂交错轨迹的框架，并且还为单个操作员提供了简单直观的界面，以实际控制任意大型空中群时间。虚拟结构概念与基于差分平坦度的反馈控制集成在一起，以提供端到端的集成群远程操作系统。通过使用多层势场可以避免碰撞。我们的方法在硬件实验中得到了证明，该实验由一组由单个操作员遥控操作的3-5个四旋翼，以及对由单个操作员遥控操作的200个四旋翼的仿真进行了证明。

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