A Mixed-Initiative Formation Control Strategy for Multiple Quadrotors

Robotics

Kostas J. Kyriakopoulos¹  George C. Karras²  George K. Fourlas²  Charalampos P. Bechlioulis³ 

[1] Control Systems Laboratory, School of Mechanical Engineering, National Technical University of Athens, 15773 Athens, Greece;Department of Computer Science and Telecommunications, School of Science, University of Thessaly, 35131 Lamia, Greece;Department of Electrical and Computer Engineering, Faculty of Engineering, University of Patras, 26504 Patras, Greece;

关键词: formation control;    aerial vehicles;    prescribed performance control;    mixed-initiative control;    navigation functions;   

DOI  :  10.3390/robotics10040116

来源: DOAJ

【 摘 要 】

In this paper, we present a mixed-initiative motion control strategy for multiple quadrotor aerial vehicles. The proposed approach incorporates formation specifications and motion-planning commands as well as inputs by a human operator. More specifically, we consider a leader–follower aerial robotic system, which autonomously attains a specific geometrical formation, by regulating the distances among neighboring agents while avoiding inter-robot collisions. The desired formation is realized by a decentralized prescribed performance control strategy, resulting in a low computational complexity implementation with guaranteed robustness and accurate formation establishment. The multi-robot system is safely guided towards goal configurations, by employing a properly defined navigation function that provides appropriate motion commands to the leading vehicle, which is the only one that has knowledge of the workspace and the goal configurations. Additionally, the overall framework incorporates human commands that dictate the motion of the leader via a teleoperation interface. The resulting mixed-initiative control system has analytically guaranteed stability and convergence properties. A realistic simulation study, considering a team of five quadrotors operating in a cluttered environment, was carried out to demonstrate the performance of the proposed strategy.

【 授权许可】

Unknown