Title

Multiple Robot-Multiple Operator Control And Teamwork: Lessons Learned And Design Guidelines

Abstract

This paper investigates the formation control of multiple Unmanned Aerial Vehicles (UAVs), particularly unmanned aircraft, in an obstacle-laden environment. The main contribution of the paper is to integrate the formation control, trajectory tracking, and obstacle/collision avoidance into one unified optimal control framework. The non-quadratic avoidance cost is innovatively constructed via an inverse optimal control approach, which leads to an analytical, distributed, and optimal formation control law. The stability and optimality of the closed-loop system are proved. In addition, the proposed optimal control law is only dependent on the information from the local neighbors, rather than all UAVs' information. Simulation of multiple UAVs' formation flying demonstrates the effectiveness of the integrated optimal control design with desired behaviors including formation flying, trajectory tracking, and obstacle/collision avoidance. © 2012 by Jianan Wang and Ming Xin.

Publication Date

1-1-2012

Publication Title

AIAA Infotech at Aerospace Conference and Exhibit 2012

Number of Pages

-

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.2514/6.2012-2459

Socpus ID

85087536609 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/85087536609

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