.png){kind=icon}
.png){kind=icon}
Return
Path-Dependent Constrained Formation for a Quadrotor Team
.png){kind=icon}
PRE
AI
DOI：10.1109/TITS.2024.3484395.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
Constrained formation problems, for quadrotors and other systems, have been examined in various works in the past decade. Nevertheless, most works only consider constant or time-varying constraint functions, to be best of our knowledge. In this work, we examine path-dependent constraint requirements during formation tracking operations by a team of quadrotors, where the constraints are functions on path parameters. Universal barrier functions are used to deal with path-dependent constraint requirements, including constraints on distances with desired paths and inter-vehicle distances. Furthermore, unknown quadrotor's mass, inertia, and disturbances are addressed using an adaptive robust formation algorithm. The newly proposed path-dependent constrained formation architecture can ensure formation tracking errors converge exponentially to small neighborhoods near the equilibrium, with all path-dependent constraint requirements met. At the end, a simulation study further illustrates the proposed scheme and demonstrates its efficacy.
Keywords:
Quadrotors
Vectors
Autonomous aerial vehicles
System dynamics
Safety
Formation control
Angular velocity
Topology
Timing
Intelligent transportation systems
Path-dependent constraints
path-following formation
multi-vehicle system
quadrotors
robust formation tracking
Journal
IF:
8.4
Papers:
9.5K
Citations:
6.3W