Distributed optimal formation control with collision avoidance

Pengfei Jin; Jianqiao Yu; Xiaolin Ai; Yuanchuan Shen

doi:10.1109/ITOEC.2018.8740742

Distributed optimal formation control with collision avoidance

Pengfei Jin, Jianqiao Yu, Xiaolin Ai, Yuanchuan Shen

宇航学院

Beijing Institute of Technology

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

To solve the problem of collision avoidance between UAVs in the process of multi-UAV formation configuration, a new form of safety zone constraints for collision avoidance is proposed, which transforms the safety zone constraints from the circular zone to the half-plane zone. This transformation makes the formation trajectory optimization be a standard quadratic programming problem, and a distributed receding horizon optimization method is used to solve the problem efficiently. Simulation results show that this method can get optimal formation trajectories under cooperative collision avoidance conditions.

源语言	英语
主期刊名	Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018
编辑	Bing Xu
出版商	Institute of Electrical and Electronics Engineers Inc.
页	615-619
页数	5
ISBN（电子版）	9781538653739
DOI	https://doi.org/10.1109/ITOEC.2018.8740742
出版状态	已出版 - 12月 2018
活动	4th IEEE Information Technology and Mechatronics Engineering Conference, ITOEC 2018 - Chongqing, 中国期限: 14 12月 2018 → 16 12月 2018

出版系列

姓名	Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018

会议

会议	4th IEEE Information Technology and Mechatronics Engineering Conference, ITOEC 2018
国家/地区	中国
市	Chongqing
时期	14/12/18 → 16/12/18

访问文件

10.1109/ITOEC.2018.8740742

其它文件与链接

链接到 Scopus 的出版物

引用此

Jin, P., Yu, J., Ai, X., & Shen, Y. (2018). Distributed optimal formation control with collision avoidance. 在 B. Xu (编辑), Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018 (页码 615-619). 文章 8740742 (Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITOEC.2018.8740742

Jin, Pengfei ; Yu, Jianqiao ; Ai, Xiaolin 等. / Distributed optimal formation control with collision avoidance. Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018. 编辑 / Bing Xu. Institute of Electrical and Electronics Engineers Inc., 2018. 页码 615-619 (Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018).

@inproceedings{c32afe44e6df48e39465f9f1bcccf959,

title = "Distributed optimal formation control with collision avoidance",

abstract = "To solve the problem of collision avoidance between UAVs in the process of multi-UAV formation configuration, a new form of safety zone constraints for collision avoidance is proposed, which transforms the safety zone constraints from the circular zone to the half-plane zone. This transformation makes the formation trajectory optimization be a standard quadratic programming problem, and a distributed receding horizon optimization method is used to solve the problem efficiently. Simulation results show that this method can get optimal formation trajectories under cooperative collision avoidance conditions.",

keywords = "Collision avoidance, Distributed receding horizon optimization, Model predictive control, Optimal control",

author = "Pengfei Jin and Jianqiao Yu and Xiaolin Ai and Yuanchuan Shen",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 4th IEEE Information Technology and Mechatronics Engineering Conference, ITOEC 2018 ; Conference date: 14-12-2018 Through 16-12-2018",

year = "2018",

month = dec,

doi = "10.1109/ITOEC.2018.8740742",

language = "English",

series = "Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "615--619",

editor = "Bing Xu",

booktitle = "Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018",

address = "United States",

}

Jin, P, Yu, J, Ai, X & Shen, Y 2018, Distributed optimal formation control with collision avoidance. 在 B Xu (编辑), Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018., 8740742, Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018, Institute of Electrical and Electronics Engineers Inc., 页码 615-619, 4th IEEE Information Technology and Mechatronics Engineering Conference, ITOEC 2018, Chongqing, 中国, 14/12/18. https://doi.org/10.1109/ITOEC.2018.8740742

Distributed optimal formation control with collision avoidance. / Jin, Pengfei; Yu, Jianqiao; Ai, Xiaolin 等.
Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018. 编辑 / Bing Xu. Institute of Electrical and Electronics Engineers Inc., 2018. 页码 615-619 8740742 (Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Distributed optimal formation control with collision avoidance

AU - Jin, Pengfei

AU - Yu, Jianqiao

AU - Ai, Xiaolin

AU - Shen, Yuanchuan

PY - 2018/12

Y1 - 2018/12

N2 - To solve the problem of collision avoidance between UAVs in the process of multi-UAV formation configuration, a new form of safety zone constraints for collision avoidance is proposed, which transforms the safety zone constraints from the circular zone to the half-plane zone. This transformation makes the formation trajectory optimization be a standard quadratic programming problem, and a distributed receding horizon optimization method is used to solve the problem efficiently. Simulation results show that this method can get optimal formation trajectories under cooperative collision avoidance conditions.

AB - To solve the problem of collision avoidance between UAVs in the process of multi-UAV formation configuration, a new form of safety zone constraints for collision avoidance is proposed, which transforms the safety zone constraints from the circular zone to the half-plane zone. This transformation makes the formation trajectory optimization be a standard quadratic programming problem, and a distributed receding horizon optimization method is used to solve the problem efficiently. Simulation results show that this method can get optimal formation trajectories under cooperative collision avoidance conditions.

KW - Collision avoidance

KW - Distributed receding horizon optimization

KW - Model predictive control

KW - Optimal control

UR - http://www.scopus.com/inward/record.url?scp=85068356409&partnerID=8YFLogxK

U2 - 10.1109/ITOEC.2018.8740742

DO - 10.1109/ITOEC.2018.8740742

M3 - Conference contribution

AN - SCOPUS:85068356409

T3 - Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018

SP - 615

EP - 619

BT - Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018

A2 - Xu, Bing

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 4th IEEE Information Technology and Mechatronics Engineering Conference, ITOEC 2018

Y2 - 14 December 2018 through 16 December 2018

ER -

Jin P, Yu J, Ai X, Shen Y. Distributed optimal formation control with collision avoidance. 在 Xu B, 编辑, Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 页码 615-619. 8740742. (Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018). doi: 10.1109/ITOEC.2018.8740742

Distributed optimal formation control with collision avoidance

摘要

出版系列

会议

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引用此