Zhang Y, Yi P, Hong Y. Cooperative Safe Trajectory Planning for Quadrotor Swarms.
SENSORS (BASEL, SWITZERLAND) 2024;
24:707. [PMID:
38276398 PMCID:
PMC11487448 DOI:
10.3390/s24020707]
[Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/08/2023] [Revised: 01/10/2024] [Accepted: 01/16/2024] [Indexed: 01/27/2024]
Abstract
In this paper, we propose a novel distributed algorithm based on model predictive control and alternating direction multiplier method (DMPC-ADMM) for cooperative trajectory planning of quadrotor swarms. First, a receding horizon trajectory planning optimization problem is constructed, in which the differential flatness property is used to deal with the nonlinear dynamics of quadrotors while we design a relaxed form of the discrete-time control barrier function (DCBF) constraint to balance feasibility and safety. Then, we decompose the original trajectory planning problem by ADMM and solve it in a fully distributed manner with peer-to-peer communication, which induces the quadrotors within the communication range to reach a consensus on their future trajectories to enhance safety. In addition, an event-triggered mechanism is designed to reduce the communication overhead. The simulation results verify that the trajectories generated by our method are real-time, safe, and smooth. A comprehensive comparison with the centralized strategy and several other distributed strategies in terms of real-time, safety, and feasibility verifies that our method is more suitable for the trajectory planning of large-scale quadrotor swarms.
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