University of Bahrain
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Distributed Obstacles Avoidance For UAVs Formation Using Consensus-based Switching Topology

Show simple item record Choutri, Kheireddine Lagha, Mohand Dala, Laurent 2019-02-28T05:38:41Z 2019-02-28T05:38:41Z 2019-03-01
dc.identifier.issn 2210-142X
dc.description.abstract Nowadays, most of the recent researches are focusing on the use of multi-UAVs in both civil and military applications. Multiple robots can offer many advantages compared to a single one such as reliability, time decreasing and various simultaneous interventions. However, solving the formation control and obstacles avoidance problems is still a big challenge. This paper proposes a distributed strategy for UAVs formation control and obstacles avoidance using a consensus-based switching topology. This novel approach allows UAVs to keep the desired topology and switch it in the event of avoiding obstacles. A double loop control structure is designed using a backstepping controller for tracking of the reference path, while a Sliding Mode Controller (SMC) is adopted for formation control. Furthermore, collaborative obstacles avoidance is assured by switching the swarm topology. Numerical simulations show the efficiency of the proposed strategy. en_US
dc.language.iso en_US en_US
dc.publisher University of Bahrain en_US
dc.rights Attribution-NonCommercial-NoDerivatives 4.0 International *
dc.rights.uri *
dc.subject Quadrotors en_US
dc.subject Multi-UAVs en_US
dc.subject Obstacles Avoidance en_US
dc.subject Switching Topolgy en_US
dc.subject Formation Control en_US
dc.title Distributed Obstacles Avoidance For UAVs Formation Using Consensus-based Switching Topology en_US
dc.type Article en_US
dc.volume 08 en_US
dc.issue 02 en_US
dc.pagestart 167 en_US
dc.pageend 178 en_US
dc.contributor.authorcountry Algeria en_US
dc.contributor.authorcountry United Kingdom en_US
dc.contributor.authoraffiliation Aeronautical Sciences Laboratory Aeronautical and Spatial Studies Institute University Blida1, Algeria en_US
dc.contributor.authoraffiliation Department of Mechanical and Construction Engineering, Northumbria University, United Kingdom en_US
dc.source.title International Journal of Computing and Digital Systems en_US
dc.abbreviatedsourcetitle IJCDS en_US

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