Underactuated Control of Quadrotors with Collision Avoidance
In this paper a saturated controller is derived that solves the translational control problem for underactuated quadrotors. The controller is applied to multiple quadrotors during a formation reconfiguration where the quadrotors move from an initial position to a desired position. The null-space-based behavioral control method is a popular method for avoiding collisions between mobile agents, and is augmented in this paper with saturation functions to enable feasible collision-free trajectories for the quadrotors during the reconfiguration. Simulations have been performed to validate the theoretical results and show the performance of the solution.
Accepted manuscript version only. Link to publisher's version: https://doi.org/10.3182/20131120-3-FR-4045.00014