Collision-Free Coordination for Quadrotors Based on Differential Flatness
Date
2025
Authors
Lin, Q.
Miao, Z.
Wang, X.
He, W.
Wang, Y.
Shi, P.
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Advisors
Journal Title
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Journal article
Citation
IEEE transactions on industrial electronics (1982. Print), 2025; 1-12
Statement of Responsibility
Qiong Lin, Zhiqiang Miao, Xiangke Wang, Wei He, Yaonan Wang, and Peng Shi
Conference Name
Abstract
The inherent instability and underactuated nature of quadrotors present formidable challenges in achieving collision-free, safe, and stable flight amongmultiple units. Predominant solutions often depend on optimization techniques requiring extensive computational resources or simplify the quadrotor model to a second-order integrator with safety constraints, which may lead to nonsmooth and nondifferentiable trajectories. This article presents a novel formation planning methodology that combines differential flatness technology with control barrier functions, achieving a superior balance between cooperative control and obstacle avoidance. Initially, a formation feedback controller that omits obstacle considerations is developed to generate nominal trajectories for the quadrotors. The methodology progresses by applying exponential control barrier functions to the control inputs of a differential flatness model, ensuring compliance with safety constraints. Using endogenous transformation, these constrained inputs are then converted into the requisite thrust and torque for the quadrotors. The effectiveness and advantages of this novel approach are demonstrated through extensive simulations and experimental validation. Experiment videos: https://youtu.be/2sLnGQMI2SI.
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Available online 11 July 2025.
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