Distributed cooperative obstacle avoidance and formation reconfiguration for multiple quadrotors: Theory and experiment

Jinjin Guo; Juntong Qi; Mingming WangChong WuYuan PingShi LiJie Jin

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Distributed cooperative obstacle avoidance and formation reconfiguration for multiple quadrotors: Theory and experiment

机译：Distributed cooperative obstacle avoidance and formation reconfiguration for multiple quadrotors: Theory and experiment

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摘要

With the increasing demand for the application of multiple quadrotors, improving their autonomous flight ability in unknown environments has become one of the research focuses in the robot field. In this paper, a distributed obstacle avoidance controller is proposed with three elaborate control terms: obstacle avoidance term, inter-robot collision avoidance term, and formation reconstruction. Firstly, an online local obstacle avoidance algorithm is designed based on the obstacle avoidance behavior of the pigeon flock and potential field theory. Then, inspired by the spring-damped system, an inter-robot collision avoidance algorithm is designed based on Hooke's law with damping. Furthermore, based on the consensus theory and local neighboring information, a distributed formation reconstruction controller is designed. Finally, the simulation and quantitative analysis are carried out in Gazebo simulation platform. For practical application, an outdoor experimental platform with six quadrotors is constructed to verify the practicability of the proposed method. The results show that the three control terms are compatible with each other to achieve obstacle avoidance and can achieve formation control for quadrotors.

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来源
《Aerospace science and technology》 |2023年第5期|108218.1-108218.15|共15页
作者
Jinjin Guo; Juntong Qi; Mingming WangChong WuYuan PingShi LiJie Jin;
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作者单位

School of Electrical and Information Engineering, Tianjin University, Tianjin, China;

School of Artificial Intelligence, Shanghai University, Shanghai, China;

EFY Intelligent Control (Tianjin) Technology Company Ltd., Tianjin, ChinaChina Aerospace Academy of Systems Science and Engineering, Beijing, China;

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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种英语
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关键词
Obstacle avoidance; Collision avoidance; Formation reconfiguration; Multiple quadrotors; Outdoor experiments;

Distributed cooperative obstacle avoidance and formation reconfiguration for multiple quadrotors: Theory and experiment

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