Formation Control with Collision Avoidance for a Multi-UAV System Using Decentralized MPC and Consensus-Based Control

2015 ◽  
Vol 8 (4) ◽  
pp. 285-294 ◽  
Author(s):  
Yasuhiro KURIKI ◽  
Toru NAMERIKAWA
Keyword(s):  
Collision Avoidance ◽  
Formation Control ◽  
Multi Uav

Formation control and collision avoidance for multi-UAV systems based on Voronoi partition

2019 ◽  
Vol 63 (1) ◽  
pp. 65-72 ◽  
Author(s):  
JinWen Hu ◽  
Man Wang ◽  
ChunHui Zhao ◽  
Quan Pan ◽  
Chang Du
Keyword(s):  
Collision Avoidance ◽  
Formation Control ◽  
Voronoi Partition ◽  
Multi Uav

scholarly journals Fuzzy Formation Control and Collision Avoidance for Multiagent Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-18 ◽  
Author(s):  
Yeong-Hwa Chang ◽  
Chun-Lin Chen ◽  
Wei-Shou Chan ◽  
Hung-Wei Lin ◽  
Chia-Wen Chang
Keyword(s):  
Collision Avoidance ◽  
Multiagent Systems ◽  
Formation Control ◽  
Descent Method ◽  
Minimum Problem ◽  
Gradient Descent Method ◽  
Consensus Formation ◽  
Distributed Information ◽  
Graph Theoretic ◽  
Learning Rules

This paper aims to investigate the formation control of leader-follower multiagent systems, where the problem of collision avoidance is considered. Based on the graph-theoretic concepts and locally distributed information, a neural fuzzy formation controller is designed with the capability of online learning. The learning rules of controller parameters can be derived from the gradient descent method. To avoid collisions between neighboring agents, a fuzzy separation controller is proposed such that the local minimum problem can be solved. In order to highlight the advantages of this fuzzy logic based collision-free formation control, both of the static and dynamic leaders are discussed for performance comparisons. Simulation results indicate that the proposed fuzzy formation and separation control can provide better formation responses compared to conventional consensus formation and potential-based collision-avoidance algorithms.

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