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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    Title :

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


    Contributors:
    Liu, Han (author) / Hu, Jinwen (author) / Zhao, Chunhui (author) / Hou, Xiaolei (author) / Xu, Zhao (author) / Pan, Quan (author)


    Publication date :

    2020-11-13


    Size :

    925970 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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