Distributed Obstacles Avoidance For UAVs Formation Using Consensus-based Switching Topology

Kheireddine Choutri, Mohand Lagha, Laurent Dala

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)
48 Downloads (Pure)

Abstract

Nowadays, most of the recent researches are focusing on the use of multi-UAVs in both civil and military applications. Multiple robots can offer many advantages compared to a single one such as reliability, time decreasing and multiple simultaneous interventions. However, solving the formation control and obstacles avoidance problems is still a big challenge. This paper proposes a distributed strategy for UAVs formation control and obstacles avoidance using a consensus-based switching topology. This novel approach allows UAVs to keep the desired topology and switch it in the event of avoiding obstacles. A double loop control structure is designed using a backstepping controller for tracking of the reference path, while a Sliding Mode Controller (SMC) is adopted for formation control. Furthermore, collaborative obstacles avoidance is assured by switching the swarm topology. Numerical simulations show the efficiency of the proposed strategy.
Original languageEnglish
Pages (from-to)167-178
Number of pages12
JournalInternational Journal of Computing and Digital Systems
Volume8
Issue number2
DOIs
Publication statusPublished - 1 Mar 2019

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