Formation Control with Collision Avoidance

被引：0

作者：

Bencatel, Ricardo ^{[1
]}

Faied, Mariam ^{[2
]}

Sousa, Joao ^{[1
]}

Girard, Anouck R. ^{[2
]}

机构：

[1] Univ Porto, Dept Elect & Comp Engn, Sch Engn, P-4200 Oporto, Portugal

[2] Univ Michigan, Dept Aerosp Engn, Ann Arbor, MI 48109 USA

来源：

2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC) | 2011年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a formation flight control strategy featuring a collision avoidance scheme. The control algorithm is based on a Sliding Mode controller. The controller sliding surfaces account for aircraft maneuvering limitations, restricting the required velocities to a feasible set. Further, the relative position between vehicles affects the sliding surfaces shape, enabling collision avoidance. The control method derivation is based on an extended unicycle model, resulting in a controller adequate for fixed wing aircraft.

引用

页码：591 / 596

页数：6

共 50 条

[1] Convergent Multiagent Formation Control With Collision Avoidance
Hu, Jinwen
Zhang, Houxin
Liu, Lu
Zhu, Xiaoping
Zhao, Chunhui
Pan, Quan
[J]. IEEE TRANSACTIONS ON ROBOTICS, 2020, 36 (06) : 1805 - 1818
[2] Distributed Optimal Formation Control with Collision Avoidance
Jin, Pengfei
Yu, Jianqiao
Ai, Xiaolin
Shen, Yuanchuan
[J]. PROCEEDINGS OF 2018 IEEE 4TH INFORMATION TECHNOLOGY AND MECHATRONICS ENGINEERING CONFERENCE (ITOEC 2018), 2018, : 615 - 619
[3] Fuzzy Formation Control and Collision Avoidance for Multiagent Systems
Chang, Yeong-Hwa
Chen, Chun-Lin
Chan, Wei-Shou
Lin, Hung-Wei
Chang, Chia-Wen
[J]. MATHEMATICAL PROBLEMS IN ENGINEERING, 2013, 2013
[4] Formation control with collision avoidance for underactuated surface vehicles
Xia, Guoqing
Xia, Xiaoming
Sun, Xianxin
[J]. ASIAN JOURNAL OF CONTROL, 2022, 24 (05) : 2244 - 2257
[5] Formation control and collision avoidance in mobile agent systems
De Gennaro, MC
Iannelli, IL
Vasca, F
[J]. 2005 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL & 13TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1 AND 2, 2005, : 796 - 801
[6] Tracking control of spacecraft formation flying with collision avoidance
Hu, Qinglei
Dong, Hongyang
Zhang, Youmin
Ma, Guangfu
[J]. AEROSPACE SCIENCE AND TECHNOLOGY, 2015, 42 : 353 - 364
[7] Collision Avoidance for Cooperative Formation Control of a Robot Group
Gronemeyer, Marcus
Horn, Joachim
[J]. IFAC PAPERSONLINE, 2019, 52 (08): : 434 - 439
[8] Robust formation control for unmanned helicopters with collision avoidance
Wang, Jianan
Wang, Dandan
Wang, Chunyan
Deng, Fang
[J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2020, 357 (17): : 11997 - 12018
[9] Formation Tracking Control of Unicycle Teams with Collision Avoidance
Li, Qin
Jiang, Zhong-Ping
[J]. 47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008), 2008, : 496 - 501
[10] A Hybrid Multiagent Collision Avoidance Method for Formation Control
Sui, Zezhi
Pu, Zhiqiang
Yi, Jianqiang
Xiong, Tianyi
[J]. INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT IV, 2019, 11743 : 93 - 102

← 1 2 3 4 5 →