OATAO - Open Archive Toulouse Archive Ouverte Open Access Week

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

Chauffaut, Corentin and Burlion, Laurent and Defaÿ, François and De Plinval, Henry Collision Avoidance of multiple MAVs using a multiple Outputs to Input Saturation Technique. (2017) In: International micro air vehicle conference and flight competition (IMAV2017), 18 September 2017 - 22 September 2017 (Toulouse, France).

[img]
Preview
(Document in English)

PDF (Author's version) - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
795kB

Official URL: http://www.imavs.org/imav2017-proceedings/

Abstract

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.

Item Type:Conference or Workshop Item (Paper)
HAL Id:hal-01754793
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
Laboratory name:
Statistics:download
Deposited By: francois defay
Deposited On:30 Mar 2018 06:57

Repository Staff Only: item control page