Path planning and formation control via potential function for UAV Quadrotor

摘要

Potential-function-based control strategy for path planning and formation control of Quadrotors is proposed in this work. The potential function is used to attract the Quadrotor to the goal location as well as avoiding the obstacle. The algorithm to solve the so called local minima problem by utilizing the wall-following behavior is also explained. The resulted path planning via potential function strategy is then used to design formation control algorithm. Using the hybrid virtual leader and behavioral approach schema, the formation control strategy by means of potential function is proposed. The overall strategy has been successfully applied to the Quadrotor's model of Parrot AR Drone 2.0 in Gazebo simulator programmed using Robot Operating System.