The decentralized control method for a multicopters group using unstable modes
Viacheslav Pshikhopov, Mikhail Medvedev, Кульченко Артем Евгеньевич, V. S. Lazarev · 2019
In this paper we consider the problem of group control in the non-determined environment with obstacles. The control object is represented by the group of multicopters. The mathematical model of the multicopter is based on equations of kinematics and dynamics of 6DOF.The flight control algorithm for a multicopter in the group is described. By using the unstable modes, we propose an obstacle avoiding control algorithm for a group. This algorithm allows to take into account velocities of moving objects and obstacles besides positions. The use of unstable modes allows to reduce the requirements for the vision system. The developed group control algorithm allows each multicopter in a group to return to the initial trajectory after avoiding obstacles. The simulation results confirm the efficiency of the proposed method.