Finite-time consensus for multi UAV system with collision avoidance
Jinwen Hu, Sijia Li, Chunhui Zhao, Quan Pan, Bin Fan, Zhiyuan Zhang, Hua Li · 2017 IEEE International Conference on Unmanned Systems (ICUS) · 2017
In this paper, finite-time position consensus and collision avoidance problems are investigated for multi-UAV (unmanned aerial vehicle) systems. First, finite-time position consensus algorithms are proposed for leaderless multi-UAV systems with considering collisions between the UAVs. Second, by constructing collision avoidance functions, modified consensus algorithms containing collision avoidance terms are presented for multi-UAV systems. Simulations demonstrate the effectiveness of the proposed control algorithms.