Motion planning for multiple fixed-wing UAVs with formation is challenging because both the kinematics of fixed-wing UAVs and collision avoidance should be taken into account. This paper introduces a novel algorithm about consensus-based distributed model predictive control for multiple fixed-wing UAVs. The algorithm can drive all UAVs achieve desired formaiton simultaneously with collision avoidance. A framework is proposed to combine consensus with distributed model predictive control which is more suitable for fixed-wing UAVs. Based on the distributed fasion, the algorithm can reduce computation time compared to other optimization approaches. And the algorithm is validated through extensive simulations.


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    Titel :

    Consensus-based Control of Multiple Fixed-Wing UAVs Using Distributed Model Predictive Control


    Beteiligte:
    Liu, Han (Autor:in) / Hu, Jinwen (Autor:in) / Zhao, Chunhui (Autor:in) / Hou, Xiaolei (Autor:in) / Xu, Zhao (Autor:in) / Pan, Quan (Autor:in)


    Erscheinungsdatum :

    13.11.2020


    Format / Umfang :

    925970 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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