Distributed Obstacles Avoidance For UAVs Formation Using Consensus-based Switching Topology

Choutri, Kheireddine, Lagha, Mohand and Dala, Laurent (2019) Distributed Obstacles Avoidance For UAVs Formation Using Consensus-based Switching Topology. International Journal of Computing and Digital Systems, 8 (2). pp. 167-178. ISSN 2210-142X

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Official URL: https://journal.uob.edu.bh/handle/123456789/3423

Abstract

Nowadays, most of the recent researches are focusing on the use of multi-UAVs in both civil and military applications. Multiple robots can offer many advantages compared to a single one such as reliability, time decreasing and multiple simultaneous interventions. However, solving the formation control and obstacles avoidance problems is still a big challenge. This paper proposes a distributed strategy for UAVs formation control and obstacles avoidance using a consensus-based switching topology. This novel approach allows UAVs to keep the desired topology and switch it in the event of avoiding obstacles. A double loop control structure is designed using a backstepping controller for tracking of the reference path, while a Sliding Mode Controller (SMC) is adopted for formation control. Furthermore, collaborative obstacles avoidance is assured by switching the swarm topology. Numerical simulations show the efficiency of the proposed strategy.

Item Type: Article
Uncontrolled Keywords: Quadrotors, Multi-UAVs,Obstacles Avoidance, Switching Topolgy, Formation Control
Subjects: H600 Electronic and Electrical Engineering
Department: Faculties > Engineering and Environment > Mechanical and Construction Engineering
Depositing User: Paul Burns
Date Deposited: 10 Jan 2019 14:09
Last Modified: 11 Oct 2019 08:16
URI: http://nrl.northumbria.ac.uk/id/eprint/37534

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