基于一致性理论和S-MPC的四旋翼编队协同避障

doi:10.12305/j.issn.1001-506X.2024.02.29

Abstract

Abstract:

Aiming at the problem of quadrotors unmanned aerial vehicle (UAV) formation maintenance and obstacle avoidance, the safety-critical model predictive control (S-MPC) and consistency theory is proposed to design the formation controller to achieve formation maintenance with obstacle avoidance ability. By using the decentralized S-MPC algorithm, each UAV only plans its own motion to track the trajectory specified by the formation control algorithm within the feasible area that meets the collision avoidance conditions. This paper studies how each decoupled UAV solves the optimization problem with coupling constraints in parallel with other UAVs, so as to ensure the consistency of independent decision-making of each UAV. At the same time, the proposed algorithm introduces the control barrier function (CBF) into the constraints of the MPC controller, so as to ensure that the UAV flies in a safe set far away from obstacles, the planned trajectory is smoother, and the system is reduced energy consumption. Finally, the effectiveness of the proposed method is verified by simulation experiments.

Key words: model predictive control, control barrier function (CBF), formation obstacle avoidance, consensus algorithm

CLC Number:

TP273

Shuxin HU, An ZHANG, Manyi SUN, Minghao LI. Obstacles avoidance for quadrotor formation based on consensus theory and S-MPC[J]. Systems Engineering and Electronics, 2024, 46(2): 658-667.

Figures/Tables 21

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符号	变量名称	符号	变量名称
x, y, z/m	位置	p, q/(rad/s)	角速率
u, v, w/(m/s)	速度	m/kg	质量
ϕ/rad	滚转角	g/(m/s²)	重力加速度
θ/rad	俯仰角	τ_θ, τ_ϕ/(N·m)	力矩
I_xx, I_yy/(kg·m²)	转动惯量	f_total/N	推力

x_obs	y_obs	r_obs
-1.5	-2.0	1.0
-4.0	-3.0	1.5

γ	最小距离	控制输入代价
0.1	4.683 6	8.796 5
0.2	3.623 7	8.730 4
0.5	3.048 8	9.078 5
1.0	2.733 3	8.820 4

无人机	x	y
UAV1	-4	-1.5
UAV2	-7	-2.0
UAV3	-3	-6.0
UAV4	-6	-5.5
UAV5	-5	-5.0

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Obstacles avoidance for quadrotor formation based on consensus theory and S-MPC

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