Collision Avoidance for Multiple Quadrotors Using Elastic Safety Clearance Based Model Predictive Control
Tao Jin,Xinghu Wang,Haibo Ji,Jian Di,Han Yan,Tao Jin,Xinghu Wang,Haibo Ji,Jian Di,Han Yan
When multiple quadrotors fly in a cluttered environment, collision-free flight must be assured. In this paper, we propose a novel elastic safety clearance based model predictive control (ESC-MPC) for multiple maneuverable quadrotors to avoid collisions in the presence of disturbance. This is accomplished through leveraging tube based model predictive control to maintain the quadrotor in a tube of ...
