Distributed Motion Planning for Multiple Quadrotors in Presence of Wind Gusts

Distributed Motion Planning for Multiple Quadrotors in Presence of Wind Gusts

This work demonstrates distributed motion planning for multi-rotor unmanned aerial vehicle in a windy outdoor environment. The motion planning is modeled as a receding horizon mixed integer nonlinear programming (RH-MINLP) problem. Each quadrotor solves an RH-MINLP to generate its time-optimal speed...

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Bibliographic Details
Main Authors: Pramod Abichandani, Deepan Lobo, Meghna Muralidharan, Nathan Runk, William McIntyre, Donald Bucci, Hande Benson
Format: Article
Language:English
Published: MDPI AG 2023-01-01
Series:Drones
Subjects:
quadrotor motion planning
multi-UAV systems
mathematical optimization
control barrier functions
dryden wind model
Online Access:https://www.mdpi.com/2504-446X/7/1/58

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