Multi-UAV Collaborative Transportation of Payloads With Obstacle Avoidance
Aditya Hegde, Debasish Ghose
Abstract
Control barrier functions have been widely studied and applied to safety-critical systems, including multi-agent obstacle avoidance problems. In this work, we apply control barrier functions to a collaborative transportation problem involving two unmanned aerial vehicles (UAVs) moving a payload around obstacles as they deliver it to a target location. We develop a target-tracking controller for the UAVs, which is constrained to meet the requirements of payload dynamics and obstacle avoidance. We also present simulation results to demonstrate the benefits of the proposed problem formulation for a multi-obstacle environment.
Topics & Concepts
Payload (computing)Obstacle avoidanceObstacleComputer scienceController (irrigation)Collision avoidanceControl engineeringControl (management)TrajectoryAerospace engineeringEngineeringArtificial intelligenceMobile robotRobotComputer securityPolitical sciencePhysicsNetwork packetBiologyCollisionAstronomyAgronomyLawRobotic Path Planning AlgorithmsDistributed Control Multi-Agent SystemsGuidance and Control Systems