主催: 公益社団法人 計測自動制御学会, 一般社団法人 日本機械学会, システム制御情報学会, 一般社団法人 電気学会, 公益社団法人 化学工学会, 公益社団法人 精密工学会, 一般社団法人 日本航空宇宙学会
共催: 国立大学法人 群馬大学, 53の学会，協会などから協賛
会議名: 第57回自動制御連合講演会
開催地: 群馬伊香保 ホテル天坊
開催日: 2014/11/10 - 2014/11/12
In this paper, we propose a cooperative formation control strategy with collision-avoidance capability for a multi-unmanned aerial vehicle (UAV) system using decentralized model predictive control (MPC) and consensus-based control. Using a decentralized UAV, each decoupled UAV plans only its own action to track the trajectories specified by a leader of the multi-UAV system.The trajectory is planned for desired formation flying using a consensus-based control algorithm.The consensus-based control algorithm guarantees convergence to the desired position for formation flying.Generally, collision-avoidance is regarded as coupled constraints.We show how the optimization problems with collision-avoidance can be solved by each decoupled UAV in parallel so that the decisions independently taken by each UAV can ensure consistency in coupled constraints of collision-avoidance.The computation time is also taken into account because it is a crucial factor to apply MPC to actual UAVs. Finally, the proposed approach is validated by some simulations.
