Practical Distributed Control for Cooperative Multicopters in Structured Free Flight Concepts

Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. Several types of airspace structures have been proposed in recent research, which include several structured free flight concepts. In this paper, for simplicity, distributed coordination o...

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Veröffentlicht in:IEEE transactions on intelligent transportation systems 2023-04, Vol.24 (4), p.4203-4216
Hauptverfasser: Fu, Rao, Quan, Quan, Li, Mengxin, Cai, Kai-Yuan
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creator Fu, Rao
Quan, Quan
Li, Mengxin
Cai, Kai-Yuan
description Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. Several types of airspace structures have been proposed in recent research, which include several structured free flight concepts. In this paper, for simplicity, distributed coordination of the motions of cooperative multicopters in structured airspace concepts is focused on. This is formulated as a free flight problem, including convergence to destination lines/planes and inter-agent collision avoidance. The destination line of each multicopter is known a priori. Further, Lyapunov-like functions are designed elaborately, while formal analysis and proofs of the proposed distributed control are given to show that the free flight control problem can be solved. What is more, by the proposed controller, a multicopter can keep away from another as soon as possible once it enters the safety area of another one. Simulations and experiments are given to show the effectiveness of the proposed method.
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subjects air traffic
Airspace
Atmospheric modeling
Autonomous aerial vehicles
Collision avoidance
Computational modeling
Convergence
Cooperative control
Decentralized control
distributed control
Flight control
Free flight
Liapunov functions
Rotary wing aircraft
Swarm
Task analysis
Unmanned aerial vehicles
title Practical Distributed Control for Cooperative Multicopters in Structured Free Flight Concepts
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