Real-Time Collision-Free Planning and Tracking Control for Multiple UAVs Based on Distributed Model Predictive Control

For the problem of trajectory tracking and realtime collision avoidance for a multiple unmanned aerial vehicle system, this study integrated the design of a formation trajectory replanner and a tracking controller based on a model predictive control framework, and introduced a collision detection link. When the UAV detected the risk of collision, the trajectory replanner performed trajectory optimization to generate collision-free trajectories, and the tracking controller realized trajectory tracking. Thus, the multi-UAV system possessed trajectory tracking and realtime collision avoidance capabilities. In this study, collision avoidance was achieved by introducing collision avoidance constraints into the trajectory replanner, the obstacles were modeled as ellipsoids. Finally, the effectiveness of the proposed algorithm was verified by the simulation.