Distributed Cooperative Collision‐Free Tracking Control for 30 Quadrotors Under Internal and External Threats.
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| Title: | Distributed Cooperative Collision‐Free Tracking Control for 30 Quadrotors Under Internal and External Threats. |
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| Authors: | Yang, Guang1 (AUTHOR), Qi, Juntong2 (AUTHOR), Wang, Mingming1 (AUTHOR) wangmm19@tju.edu.cn, Wu, Chong3 (AUTHOR), Guo, Jinjin4 (AUTHOR), Ping, Yuan3 (AUTHOR), Peng, Yan2 (AUTHOR) |
| Source: | Journal of Field Robotics. May2025, Vol. 42 Issue 3, p827-849. 23p. |
| Subjects: | Energy function, Potential energy |
| Abstract: | The high efficiency of multiple quadrotors coordination makes it widely used. However, the technology faces threats from internal collisions as well as external obstacles. This paper proposes a multiquadrotors distributed cooperative collision‐free tracking control framework, which consists of three parts: collision avoidance mechanism, obstacle avoidance mechanism and tracking control. First, in the face of internal and external threats, the collision avoidance function with damping is designed based on Hooke's law. And the potential energy function is designed for multiple quadrotors obstacle avoidance based on bird flock obstacle avoidance. Then, a distributed control protocol is proposed based on consensus theory. Finally, a multi‐quadrotors simulation and experiment platform with the same architecture is built. We deploy the framework on the multiple quadrotor platform and conduct collision avoidance, obstacle avoidance, and encirclement experiments with 30 quadrotors. The experimental results show that the quadrotors can perform the task well. The minimum distance between quadrotors is 0.8022 m, and the minimum distance from obstacles is 0.8866 m, all of which meet the safety distance requirements. Moreover, compared with classical and advanced methods in simulation, our proposed method has the smallest average tracking error, only 0.3019 m, and improves task time by 7.03% and 6.23%, respectively, which verifies the effectiveness and practicality of the proposed framework of distributed cooperative collision avoidance and tracking control for multiple quadrotors. [ABSTRACT FROM AUTHOR] |
| Copyright of Journal of Field Robotics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
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| Header | DbId: egs DbLabel: Engineering Source An: 184466546 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Distributed Cooperative Collision‐Free Tracking Control for 30 Quadrotors Under Internal and External Threats. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Yang%2C+Guang%22">Yang, Guang</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Qi%2C+Juntong%22">Qi, Juntong</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Wang%2C+Mingming%22">Wang, Mingming</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> wangmm19@tju.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Wu%2C+Chong%22">Wu, Chong</searchLink><relatesTo>3</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Guo%2C+Jinjin%22">Guo, Jinjin</searchLink><relatesTo>4</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Ping%2C+Yuan%22">Ping, Yuan</searchLink><relatesTo>3</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Peng%2C+Yan%22">Peng, Yan</searchLink><relatesTo>2</relatesTo> (AUTHOR) – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Journal+of+Field+Robotics%22">Journal of Field Robotics</searchLink>. May2025, Vol. 42 Issue 3, p827-849. 23p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Energy+function%22">Energy function</searchLink><br /><searchLink fieldCode="DE" term="%22Potential+energy%22">Potential energy</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: The high efficiency of multiple quadrotors coordination makes it widely used. However, the technology faces threats from internal collisions as well as external obstacles. This paper proposes a multiquadrotors distributed cooperative collision‐free tracking control framework, which consists of three parts: collision avoidance mechanism, obstacle avoidance mechanism and tracking control. First, in the face of internal and external threats, the collision avoidance function with damping is designed based on Hooke's law. And the potential energy function is designed for multiple quadrotors obstacle avoidance based on bird flock obstacle avoidance. Then, a distributed control protocol is proposed based on consensus theory. Finally, a multi‐quadrotors simulation and experiment platform with the same architecture is built. We deploy the framework on the multiple quadrotor platform and conduct collision avoidance, obstacle avoidance, and encirclement experiments with 30 quadrotors. The experimental results show that the quadrotors can perform the task well. The minimum distance between quadrotors is 0.8022 m, and the minimum distance from obstacles is 0.8866 m, all of which meet the safety distance requirements. Moreover, compared with classical and advanced methods in simulation, our proposed method has the smallest average tracking error, only 0.3019 m, and improves task time by 7.03% and 6.23%, respectively, which verifies the effectiveness and practicality of the proposed framework of distributed cooperative collision avoidance and tracking control for multiple quadrotors. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Journal of Field Robotics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1002/rob.22502 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 23 StartPage: 827 Subjects: – SubjectFull: Energy function Type: general – SubjectFull: Potential energy Type: general Titles: – TitleFull: Distributed Cooperative Collision‐Free Tracking Control for 30 Quadrotors Under Internal and External Threats. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Yang, Guang – PersonEntity: Name: NameFull: Qi, Juntong – PersonEntity: Name: NameFull: Wang, Mingming – PersonEntity: Name: NameFull: Wu, Chong – PersonEntity: Name: NameFull: Guo, Jinjin – PersonEntity: Name: NameFull: Ping, Yuan – PersonEntity: Name: NameFull: Peng, Yan IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 05 Text: May2025 Type: published Y: 2025 Identifiers: – Type: issn-print Value: 15564959 Numbering: – Type: volume Value: 42 – Type: issue Value: 3 Titles: – TitleFull: Journal of Field Robotics Type: main |
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