dc.contributor.author | Dubay, Shaundell | |
dc.date.accessioned | 2018-07-31T17:55:48Z | |
dc.date.available | 2018-07-31T17:55:48Z | |
dc.date.issued | 2018-07-31T17:55:48Z | |
dc.identifier.uri | http://hdl.handle.net/10222/74089 | |
dc.description.abstract | As the cost to manufacture quadcopters decrease, multi-agent applications for civilian tasks, such as large-scale surveying, search and rescue missions and fire fighting, are becoming increasingly realizable. However, a multi-agent system of fast moving
quadcopters has a high risk of collisions with neighbouring quadcopters or obstacles. The objective of this work is to develop a control strategy for collision and obstacle avoidance of multiple quadcopters. In this thesis, the problem of distributed model
predictive control (MPC) for collision avoidance among a team of multiple quadcopters attempting to reach consensus is investigated. Violations of a predetermined safety radius generates output constraints on the MPC optimization function. In
addition, logarithmic barrier functions are implemented as input rate constraints on the control actions. Extensive simulation studies for a team of four quadcopters illustrate promising results of the proposed control strategy and case variations. In addition, distributed MPC parameter effects on the system performance are studied and a successful isolated study for obstacle avoidance of static objects is presented. | en_US |
dc.language.iso | en | en_US |
dc.subject | Model predictive control | en_US |
dc.subject | Collision avoidance | en_US |
dc.subject | Quadcopter control | en_US |
dc.title | Distributed Model Predictive Control for Collision and Obstacle Avoidance of Multiple Quadcopters | en_US |
dc.date.defence | 2018-07-23 | |
dc.contributor.department | Department of Mechanical Engineering | en_US |
dc.contributor.degree | Master of Applied Science | en_US |
dc.contributor.external-examiner | Guy Kember | en_US |
dc.contributor.graduate-coordinator | Dominic Groulx | en_US |
dc.contributor.thesis-reader | Robert Bauer | en_US |
dc.contributor.thesis-supervisor | Ya-Jun Pan | en_US |
dc.contributor.ethics-approval | Not Applicable | en_US |
dc.contributor.manuscripts | Not Applicable | en_US |
dc.contributor.copyright-release | Not Applicable | en_US |