Collision Avoidance of multiple MAVs using a multiple Outputs to Input Saturation Technique

Corentin Chauffaut (1) , Laurent Burlion (2) , François Defay (1) , Henry de Plinval (2)

1 DCAS - Département Conception et conduite des véhicules Aéronautiques et Spatiaux
2 Département Commande des Systèmes et Dynamique du Vol

This paper proposes a novel collision avoidance scheme for MAVs. This scheme is based on the use of a recent technique which is based on the transformation of state constraints into timevarying control input saturations. Here, this technique is extended so as to ensure collision avoidance of a formation of up to three MAVs. Experimental results involving three A.R drones show the efficiency of the approach.

Mots clés: UAV; Obstacle avoidance

Domaines: Automatique

Corentin Chauffaut, Laurent Burlion, François Defay, Henry de Plinval. Collision Avoidance of multiple MAVs using a multiple Outputs to Input Saturation Technique. International micro air vehicle conference and flight competition (IMAV2017), Sep 2017, Toulouse, France. pp. 190-195. ⟨hal-01754793⟩