Leader-Follower Trajectory Generation and Tracking for Quadrotor Swarms

Abstract

Swarm control is an essential step in the progress of robotic technology. The use of multiple agents to perform tasks more effectively and efficiently than a single agent allows for the expansion of robot use in all aspects of life. One of the foundations of this area of research is the concept of Leader-Follower swarm control. A crucial aspect of this idea is the generation of trajectories with respect to the leader’s path and some desired formation. With these trajectories generated, one can use a tracking controller specific to the swarm vehicle of choice to accomplish the desired swarm formation. In this paper, a Leader-Follower trajectory generator is developed for a planar triangular formation with offset vertical positions. A tracking controller is used to achieve formation flight for the quadrotor application. A well-accepted model for quadrotor vehicles is used, with simulation parameters comparable to those of a small commercial quadrotor. The swarm control objective is achieved in simulation and is proved to be effective theoretically through the Lyapunov analysis.