Collision avoidance control of multiple UAVs using collision cones and control barrier functions

Collision avoidance control of multiple UAVs using collision cones and control barrier functions

연구 분야: Software Development

학회: Artificial Life and Robotics

This paper focuses on the collision avoidance of multiple UAVs using collision cones (CCs) and control barrier functions (CBFs). Each UAV is separately controlled toward a given goal while avoiding collision with other UAVs, which are considered moving obstacles. We first propose a new collision avoidance control method based on CCs and CBFs without numerical optimization. This method significantly lowers computational costs compared to existing optimization-based approaches. In addition, we propose a new optimization-based method using CCs and CBFs. A key feature of the proposed method is that the desired control input used in numerical optimization is modified based on CCs and CBFs, in contrast to existing methods that use a desired control input designed without considering obstacles. We evaluate and compare the effectiveness of the proposed methods through extensive simulations. Experimental results using real quadrotors are also shown.