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).
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(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 On: | 30 Mar 2018 06:57 |
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