Collision avoidance strategies for quadrotors in tight formation flying

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1 Scopus citations

Abstract

The paper proposes controllers for a multi-Quad system that flies in a tight rigid formation. The considered model of the aerial vehicle are highly nonlinear. We propose a control strategy for avoiding collision between neighboring vehicles. The collision avoidance strategy applies in particular the flatness property of the considered system. Simulation results which demonstrate the controller effectivness, are presented.

Original languageEnglish
Title of host publication2015 23rd Mediterranean Conference on Control and Automation, MED 2015 - Conference Proceedings
EditorsVictor Munoz, Joseba Quevedo, Jorge L. Martinez, Jesus Morales
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages847-852
Number of pages6
ISBN (Electronic)9781479999361
DOIs
StatePublished - 14 Jul 2015
Event23rd Mediterranean Conference on Control and Automation, MED 2015 - Torremolinos, Spain
Duration: 16 Jun 201519 Jun 2015

Publication series

Name2015 23rd Mediterranean Conference on Control and Automation, MED 2015 - Conference Proceedings

Conference

Conference23rd Mediterranean Conference on Control and Automation, MED 2015
Country/TerritorySpain
CityTorremolinos
Period16/06/1519/06/15

Keywords

  • Quadrotor
  • collision avoidance
  • flatness
  • formation control
  • nonlinear model

ASJC Scopus subject areas

  • Control and Optimization
  • Control and Systems Engineering

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