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Cooperative Safe Trajectory Planning for Quadrotor Swarms.

Yahui Zhang1, Peng Yi1,2, Yiguang Hong1,2

  • 1Department of Control Science and Engineering, Tongji University, Shanghai 201804, China.

Sensors (Basel, Switzerland)
|January 26, 2024
PubMed
Summary

We developed a distributed algorithm for quadrotor swarm trajectory planning. This method ensures real-time, safe, and smooth flight paths through cooperative control, reducing communication needs.

Keywords:
alternating direction multiplier methodcontrol barrier functiondifferential flatnessmodel predictive controlquadrotor swarmstrajectory planning

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Area of Science:

  • Robotics
  • Control Systems
  • Artificial Intelligence

Background:

  • Cooperative trajectory planning for quadrotor swarms is crucial for complex missions.
  • Existing methods often face challenges with scalability, real-time performance, and safety guarantees.
  • Distributed control offers a promising approach to overcome limitations of centralized systems.

Purpose of the Study:

  • To propose a novel distributed algorithm for cooperative trajectory planning in quadrotor swarms.
  • To enhance safety and efficiency in large-scale quadrotor formations.
  • To reduce communication overhead while maintaining robust performance.

Main Methods:

  • Developed a distributed algorithm combining Model Predictive Control and Alternating Direction Method of Multipliers (DMPC-ADMM).
  • Utilized differential flatness for nonlinear quadrotor dynamics and relaxed discrete-time control barrier functions (DCBF) for safety-feasibility balance.
  • Implemented a peer-to-peer communication strategy with an event-triggered mechanism for reduced overhead.

Main Results:

  • Generated real-time, safe, and smooth trajectories for quadrotor swarms.
  • Achieved consensus on future trajectories among quadrotors within communication range, enhancing safety.
  • Demonstrated superior performance compared to centralized and other distributed strategies in simulations.

Conclusions:

  • The DMPC-ADMM algorithm is effective for cooperative trajectory planning in quadrotor swarms.
  • The proposed method offers a scalable and efficient solution for real-time, safe, and smooth multi-quadrotor operations.
  • The event-triggered mechanism successfully reduces communication load without compromising performance.