This paper presents a Distributed NMPC approach for the problem of Dynamic Obstacle Avoidance based on Laguerre Polynomials combined with potential fields. The proposed approach aims at tackling the computational burden by using a combination of different methods to achieve real-time performance. Moreover, the approach benefits from being able to represent the projected paths of each UAV using a significantly reduced amount of information, thus reducing the bandwidth required for a practical implementation. The paper presents a complete derivation of the proposed approach along with an algorithm for its implementation, and discusses aspects specifically related to Multi-Rotor UAV models which can help to reduce the computational burden even further. The performance of the proposed approach is demonstrated through a simulation of 50 UAVs sharing common airspace.


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    Titel :

    A Laguerre-based Distributed Nonlinear Model Predictive Control Scheme for Dynamic Obstacle Avoidance on Multi-Rotor UAVs


    Beteiligte:


    Erscheinungsdatum :

    2022-06-21


    Format / Umfang :

    1014551 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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