Consensus-based Control of Multiple Fixed-Wing UAVs Using Distributed Model Predictive Control

Han Liu, Jinwen Hu, Chunhui Zhao, Xiaolei Hou, Zhao Xu, Quan Pan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

Motion planning for multiple fixed-wing UAVs with formation is challenging because both the kinematics of fixed-wing UAVs and collision avoidance should be taken into account. This paper introduces a novel algorithm about consensus-based distributed model predictive control for multiple fixed-wing UAVs. The algorithm can drive all UAVs achieve desired formaiton simultaneously with collision avoidance. A framework is proposed to combine consensus with distributed model predictive control which is more suitable for fixed-wing UAVs. Based on the distributed fasion, the algorithm can reduce computation time compared to other optimization approaches. And the algorithm is validated through extensive simulations.

Original languageEnglish
Title of host publication2020 7th International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages858-863
Number of pages6
ISBN (Electronic)9781728162461
DOIs
StatePublished - 13 Nov 2020
Event7th International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2020 - Guangzhou, China
Duration: 13 Nov 202015 Nov 2020

Publication series

Name2020 7th International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2020

Conference

Conference7th International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2020
Country/TerritoryChina
CityGuangzhou
Period13/11/2015/11/20

Keywords

  • Collision Avoidance
  • Consensus
  • Distributed Robot Systems
  • Model Predictive Control
  • Motion and Path Planning

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