Please use this identifier to cite or link to this item: https://doi.org/10.3390/act8010001
Title: Distributed cooperative avoidance control for Multi-Unmanned Aerial Vehicles
Authors: Huang, S. 
Teo, R.S.H. 
Liu, W. 
Keywords: Cooperative control
Distributed control
Unmanned aerial vehicles
Issue Date: 2019
Publisher: MDPI AG
Citation: Huang, S., Teo, R.S.H., Liu, W. (2019). Distributed cooperative avoidance control for Multi-Unmanned Aerial Vehicles. Actuators 8 (1) : 1. ScholarBank@NUS Repository. https://doi.org/10.3390/act8010001
Rights: Attribution 4.0 International
Abstract: It is well-known that collision-free control is a crucial issue in the path planning of unmanned aerial vehicles (UAVs). In this paper, we explore the collision avoidance scheme in a multi-UAV system. The research is based on the concept of multi-UAV cooperation combined with information fusion. Utilizing the fused information, the velocity obstacle method is adopted to design a decentralized collision avoidance algorithm. Four case studies are presented for the demonstration of the effectiveness of the proposed method. The first two case studies are to verify if UAVs can avoid a static circular or polygonal shape obstacle. The third case is to verify if a UAV can handle a temporary communication failure. The fourth case is to verify if UAVs can avoid other moving UAVs and static obstacles. Finally, hardware-in-the-loop test is given to further illustrate the effectiveness of the proposed method. © 2019 by the authors.
Source Title: Actuators
URI: https://scholarbank.nus.edu.sg/handle/10635/213719
ISSN: 20760825
DOI: 10.3390/act8010001
Rights: Attribution 4.0 International
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