Decentralized Model Predictive Control of a Formation of Multirotor Helicopters

Ícaro Bezerra Viana¹; Igor Afonso Acampora Prado¹; Davi Ferreira de Castro¹; Davi Antônio dos Santos¹; Luiz Carlos Sandoval Góes¹

¹ ITA - Instituto Tecnológico de Aeronáutica

doi:10.20906/CPS/COB-2015-2317

Resumo

This paper treat the problem of position formation flight control of a group of n multirotor helicopters under obstacle and collision avoidance constraints. In order to solve the problem, a decentralized architecture with model predictive controllers (MPC) per vehicle includes a set of convex constraints on the vehicles's position to prevent collisions with other vehicles and obstacles. The resulting decentralized scheme controls the formation based on a virtual structure approach. The performance of the method is assessed through simulations considering that the vehicles is subject to disturbance forces and the results show the effectivenes and the ability of the control architecture to handle the obstacle and collision avoidance constraints.

Palavras-chave: Model Predictive Control; Collision Avoidance; Obstacle Avoidance; Aerial Robotics; Multirotor helicopters