Consensus-based Control of Multiple Fixed-Wing UAVs Using Distributed Model Predictive Control

Motion planning for multiple fixed-wing UAVs with formation is challenging because both the kinematics of fixed-wing UAVs and collision avoidance should be taken into account. This paper introduces a novel algorithm about consensus-based distributed model predictive control for multiple fixed-wing UAVs. The algorithm can drive all UAVs achieve desired formaiton simultaneously with collision avoidance. A framework is proposed to combine consensus with distributed model predictive control which is more suitable for fixed-wing UAVs. Based on the distributed fasion, the algorithm can reduce computation time compared to other optimization approaches. And the algorithm is validated through extensive simulations.