Optimization-based Distributed Flocking Control for Drone Networks under Input Disturbances

DOI Web Site 2 Citations 27 References

Bibliographic Information

Other Title
  • 入力外乱を考慮した最適化に基づくドローンネットワークの分散群れ制御

Search this article

Description

<p>This paper presents a distributed flocking control methodology for a group of multirotor UAVs (drones) under input disturbances. The proposed method follows Reynolds's three flocking rules: cohesion; alignment; and separation. Each drone determines its velocity control input by solving a fully distributed optimization problem with the constraints for these three rules. Here, the conflict between cohesion and separation is handled by adding a relaxation term to the constraint for cohesion. Moreover, the effect of input disturbances, evaluated in preliminary experiments, is incorporated into the constraint for separation. The effectiveness of the proposed flocking control method is demonstrated via simulation and hardware experiments.</p>

Journal

Citations (2)*help

See more

References(27)*help

See more

Related Projects

See more

Keywords

Details 詳細情報について

Report a problem

Back to top