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Distributed Flocking Control of Quad-rotor UAVs with Obstacle Avoidance Under the Parallel-triggered Scheme

Fanjing Huang, Panlong Wu*, and Xingxiu Li
International Journal of Control, Automation, and Systems, vol. 19, no. 3, pp.1375-1383, 2021

Abstract : With the development of science and technology, more and more unmanned aerial vehicles (UAVs) are needed for collaborative search, rescue, reconnaissance, remote sensing and other missions. Multiple UAVs collaborative control is emerging as a promising technology to carry out these missions. Based on the acceleration matching method, a double loop control scheme of quad-rotor UAV is proposed, which effectively reduces the position difference between each UAV and the virtual leader under external disturbances. It also can facilitate cooperative control of multiple quad-rotor UAVs and make further efforts to improve the control quality of the flight system. In order to make quad-rotor UAVs could perform collision avoidance maneuvers with cooperation to reach the desired position, a distributed virtual leader-follower flocking control strategy with parallel-triggered scheme(PTS) is proposed. Unlike traditional flocking control strategy, this strategy is applied to the multiple quadrotor UAVs platform to solve the problem of flight stability at the condition of obstacles and limited thrust, and takes advantage of PTS to save communication resources. Several simulations are provided to confirm that in the premise of achieving the collision free flocking and obstacle avoidance of quad-rotor UAVs, the proposed strategy can further minimize transmission rate than using event triggered scheme.

Keyword : Flocking control, leader-follower, obstacle avoidance, parallel-triggered scheme, quad-rotor UAV.

 
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