Numerical Verification on Collision Avoidance of Multiple Quadrotors Using Voronoi Division
Kento NAKAGAWA, Yuhwan Kwon, Kimiko Motonaka, Seiji Miyoshi · Transactions of the Society of Instrument and Control Engineers · 2020
In this paper, we assume a situation that multiple quadrotors are flying autonomously in the same space for the purpose of aerial photographing, surveillance, home delivery and so on. In such a situation, an algorithm to avoid mutual collision is needed. D. Zhou et al. proposed an algorithm based on the buffered Voronoi cells (BVC) to reach each target position without mutual collision when the multiple quadrotors fly and confirmed its operation by some simulations. In this research, we verified the performance of the method by numerical simulations using MATLAB. In addition, we confirmed the algorithm by dynamic simulations with four quadrotors using the dynamic simulator V-REP.