Consensus-based cooperative formation control with collision avoidance for a multi-UAV system

In this paper, we study cooperative control problems with a multi-UAV system. Specifically, we propose a c consensus-based cooperative formation control strategy with collision-avoidance capability for a group of multiple unmanned aerial vehicles (UAVs). To cooperatively fly in formation, a consensus-based algorithm and a leader-follower structure are applied to the UAVs. Collisions among the UAVs can occur while they are flying with the cooperative control algorithm. Therefore, we describe how the cooperatively controlled UAVs avoid collisions while they are flying to desired position for formation. The collision-avoidance strategy is based on an artificial potential approach. The convergence is guaranteed even when the cooperative formation control algorithm and the collision-avoidance control algorithm are simultaneously applied to the quadrotors. Finally, the proposed approach is validated by some simulations.