Motion Planning and Control of Formations of Micro Aerial Vehicles

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00219889" target="_blank" >RIV/68407700:21230/14:00219889 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Motion Planning and Control of Formations of Micro Aerial Vehicles
Original language description
A model predictive control based algorithm for maintenance of leader-follower formations of micro-scale aerial vehicles is proposed in this paper. The approach is designed for stabilization of teams of unmanned quadrotor helicopters and for their motionplanning into a distant target region. The presented method of the model predictive control with a planning horizon enables integration of an obstacle avoidance function into the local control of the formation as well as into the global plan of formationmovement. Deployment of the method in real-world scenarios, with particular interest in failure recovery and inter-vehicle avoidance, is verified in various simulations.
Czech name
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Czech description
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Project
<a href="/en/project/GPP103%2F12%2FP756" target="_blank" >GPP103/12/P756: Stabilization of ?-UAV swarms under decentralized relative localization.</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of The 19th World Congress of the International Federation of Automatic Control
ISBN
978-3-902823-62-5
ISSN
1474-6670
e-ISSN
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Number of pages
6
Pages from-to
1228-1233
Publisher name
IFAC
Place of publication
Pretoria
Event location
Cape Town
Event date
Aug 24, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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