{"title":"基于lqr的多无人机避碰协同路径跟踪","authors":"N. Mohanty, Akshath Singhal, T.K. Dan, P. Sujit","doi":"10.1109/ICC47138.2019.9123200","DOIUrl":null,"url":null,"abstract":"This paper presents a Linear Quadratic Regulator (LQR) based approach for cooperative path following problem for multiple UAVs along with collision avoidance. The goal of each vehicle, in a fleet, is to track a given desired trajectory and coordinate with other vehicles to be in a desired formation, while avoiding collision with each other. We model the cooperative path following problem as an infinite horizon LQR problem which is solved to obtain the velocity and steering control commands. Numerical simulations for different geometric paths are evaluated to verify the efficacy of our proposed method.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"LQR-based Cooperative Path Following of Multiple UAVs with Collision Avoidance\",\"authors\":\"N. Mohanty, Akshath Singhal, T.K. Dan, P. Sujit\",\"doi\":\"10.1109/ICC47138.2019.9123200\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a Linear Quadratic Regulator (LQR) based approach for cooperative path following problem for multiple UAVs along with collision avoidance. The goal of each vehicle, in a fleet, is to track a given desired trajectory and coordinate with other vehicles to be in a desired formation, while avoiding collision with each other. We model the cooperative path following problem as an infinite horizon LQR problem which is solved to obtain the velocity and steering control commands. Numerical simulations for different geometric paths are evaluated to verify the efficacy of our proposed method.\",\"PeriodicalId\":231050,\"journal\":{\"name\":\"2019 Sixth Indian Control Conference (ICC)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 Sixth Indian Control Conference (ICC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICC47138.2019.9123200\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 Sixth Indian Control Conference (ICC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICC47138.2019.9123200","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
LQR-based Cooperative Path Following of Multiple UAVs with Collision Avoidance
This paper presents a Linear Quadratic Regulator (LQR) based approach for cooperative path following problem for multiple UAVs along with collision avoidance. The goal of each vehicle, in a fleet, is to track a given desired trajectory and coordinate with other vehicles to be in a desired formation, while avoiding collision with each other. We model the cooperative path following problem as an infinite horizon LQR problem which is solved to obtain the velocity and steering control commands. Numerical simulations for different geometric paths are evaluated to verify the efficacy of our proposed method.