Raj, Jai and Raghuwaiya, Krishna and Havea, Robin S. and Vanualailai, Jito (2023) Autonomous control of multiple quadrotors for collision – free navigation. IET Control Theory & Applications, 17 (7). pp. 868-895. ISSN 1751-8644
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Abstract
This paper addresses the development of a set of novel autonomous control laws for the navigation of multiple mini or micro quadrotors in a workspace populated with cylindrical obstacles. To the authors’ knowledge, this is the first time that such a set of control inputs for the autonomous control of multiple quadrotors and avoidance of cylindrical obstacles is being derived from a single Lyapunov function. The avoidance of the cylindrical
obstacles is achieved via a Minimum Distance Technique that allows a quadrotor to avoid the closest point on the curved surface of a cylinder at every unit time. In addition, the
novel controllers ensure a near-to-horizontal orientation of a quadrotor at every unit time and the hovering motion exhibited by the quadrotor in a neighborhood of its target. The hovering capability has been solved completely in this paper by solving the underactuatedness of the quadrotor which allows for the design of the maximum translational velocities needed for vertical take-off and landing, and hovering. This is important in applications where payloads are sensitive to acrobatic orientations. Computer simulations that mimic real-life scenarios using cylindrical towers as obstacles in a city-like environment illustrates
the effectiveness of the controllers.
| Item Type: | Journal Article |
|---|---|
| Subjects: | Q Science > QA Mathematics Q Science > QA Mathematics > QA75 Electronic computers. Computer science |
| Divisions: | School of Information Technology, Engineering, Mathematics and Physics (STEMP) School of Pacific Arts, Communication and Education (SPACE) |
| Depositing User: | Ms Shalni Sanjana |
| Date Deposited: | 12 Mar 2024 22:26 |
| Last Modified: | 12 Mar 2024 22:26 |
| URI: | https://repository.usp.ac.fj/id/eprint/14508 |
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