Collision-Free Trajectory Generation for Multiple UAVs with Sensing Constraints

Ruocheng Li, Qingkai Yang, Weipeng Zhao, Hao Fang

科研成果: 书/报告/会议事项章节会议稿件同行评审

2 引用 (Scopus)

摘要

This paper mainly focuses on the real-time collision avoidance trajectory generation for multiple UAVs with limited sensing capabilities. It is assumed that each UAV has visual constraints (i.e., limited field of view (FOV)). Based on their sensed relative positions, two observation situations are considered: reciprocal observation and unidirectional observation, which can be identified through our proposed observation function. We propose a two-stage strategy for each UAV to plan its real-time trajectory, resulting a very small deviation from the initial trajectory. At the first stage, the quadrotor employs a novel visual vector field function to judge whether a collision possibly occurs, then a modified optimal reciprocal collision avoidance (ORCA) algorithm is proposed such that collision-free zones are figured out. At the second stage, the quadrotor will regenerate a smooth trajectory by solving a QP problem to return to the initial trajectory. Simulation and experiment results show the validness and effectiveness of our proposed strategy.

源语言英语
主期刊名Proceedings of the 40th Chinese Control Conference, CCC 2021
编辑Chen Peng, Jian Sun
出版商IEEE Computer Society
5592-5597
页数6
ISBN(电子版)9789881563804
DOI
出版状态已出版 - 26 7月 2021
活动40th Chinese Control Conference, CCC 2021 - Shanghai, 中国
期限: 26 7月 202128 7月 2021

出版系列

姓名Chinese Control Conference, CCC
2021-July
ISSN(印刷版)1934-1768
ISSN(电子版)2161-2927

会议

会议40th Chinese Control Conference, CCC 2021
国家/地区中国
Shanghai
时期26/07/2128/07/21

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