Abstract
A real-time conflict resolution algorithm based on model predictive control (MPC) is introduced to address the flight conflict resolution problem in multi-UAV scenarios. Using a low-level controller, the UAV dynamic equations are abstracted into simpler unicycle kinematic equations. The neighboring UAVs exchange their predicted trajectories at each sample time to predict the conflicts. Then, under the predesignated resolution rule and strategy, decentralized coordination and cooperation are performed to resolve the predicted conflicts. The controller structure of the distributed nonlinear model predictive control (DNMPC) is designed to predict potential conflicts and calculate control variables for each UAV. Numerical simulations of multi-UAV coordination are performed to verify the performance of the proposed algorithm. Results demonstrate that the proposed algorithm can resolve the conflicts sufficiently in real time, while causing no further conflicts.
Highlights
Interest in research activities related to techniques using multiple Unmanned Aerial Vehicles (UAVs) has experienced a significant increase in recent decades [1,2]
Supposing that all the UAVs are flying in the coordinate system of ground (Oxyz), which can be defined as: O is the selected coordinate origin, Ox points to true north, Oz axis points to true east, and Oy axis is determined by the right-hand rule; and all UAVs move within the horizon plane Oxz
The proposed algorithm adjusts the path of each conflicting UAV by coordinating their flight status while maintaining their velocities
Summary
Interest in research activities related to techniques using multiple Unmanned Aerial Vehicles (UAVs) has experienced a significant increase in recent decades [1,2]. Numerical methods can efficiently resolve the conflicts in some typical scenarios, but they find it difficult to take the actual flight status of the UAV in to account. Algorithms 2018, 11, x FOR PEER REVIEW proposed in 12, Ref. Algorithms 2019, 47 [13], which prohibits UAVs’ collision with obstacles and conflicts in real 2time. At the same time, corresponding resolution rule and strategy are proposed to decompose conflicts and resolve them in groups consists resolution rule andAstrategy proposed to decompose and them in groups consists of several UAVs. conflict are resolution algorithm is alsoconflicts designed toresolve calculate control variables for of several. A conflict resolution algorithm is designed to calculate control variables for each UAV and to ensure no subsequent conflicts will be generated, which leads to a consistent unique each.
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