Trust-region filtered sequential convex programming for multi-UAV trajectory planning and collision avoidance

2021 ◽  
Author(s):  
Guangtong Xu ◽  
Teng Long ◽  
Zhu Wang ◽  
Jingliang Sun
Keyword(s):  
Convex Programming ◽  
Collision Avoidance ◽  
Trajectory Planning ◽  
Trust Region ◽  
Sequential Convex Programming ◽  
Multi Uav

Trajectory Optimization Using Sequential Convex Programming with Collision Avoidance

2018 ◽  
Vol 29 (3) ◽  
pp. 318-327 ◽  
Author(s):  
Guilherme Matiussi Ramalho ◽  
Sidney Roberto Carvalho ◽  
Erlon Cristian Finardi ◽  
Ubirajara Franco Moreno
Keyword(s):  
Convex Programming ◽  
Collision Avoidance ◽  
Trajectory Optimization ◽  
Sequential Convex Programming

scholarly journals Distributed Cooperative Avoidance Control for Multi-Unmanned Aerial Vehicles

Actuators ◽  
2018 ◽  
Vol 8 (1) ◽  
pp. 1 ◽  
Author(s):  
Sunan Huang ◽  
Rodney Swee Huat Teo ◽  
Wenqi Liu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Case Studies ◽  
Collision Avoidance ◽  
Hardware In The Loop ◽  
Crucial Issue ◽  
Communication Failure ◽  
Aerial Vehicles ◽  
Avoidance Control ◽  
Velocity Obstacle ◽  
Multi Uav

It is well-known that collision-free control is a crucial issue in the path planning of unmanned aerial vehicles (UAVs). In this paper, we explore the collision avoidance scheme in a multi-UAV system. The research is based on the concept of multi-UAV cooperation combined with information fusion. Utilizing the fused information, the velocity obstacle method is adopted to design a decentralized collision avoidance algorithm. Four case studies are presented for the demonstration of the effectiveness of the proposed method. The first two case studies are to verify if UAVs can avoid a static circular or polygonal shape obstacle. The third case is to verify if a UAV can handle a temporary communication failure. The fourth case is to verify if UAVs can avoid other moving UAVs and static obstacles. Finally, hardware-in-the-loop test is given to further illustrate the effectiveness of the proposed method.

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