Quadrotor UAVs Flying Formation Reconfiguration with Collision Avoidance Using Probabilistic Roadmap Algorithm

This paper proposes an idea about the quadrotor unmanned aerial vehicles (UAVs) flying formation reconfiguration with collision avoidance and computation of the probabilistic roadmap (PRM) navigation method for nonlinear quadcopter model in dynamic environment. The safe zone and dangerous zone strategy have been adopted to reach the target position. A novel algorithm using probabilistic roadmap is proposed for collision avoidance. Two dimensional PD controllers are proposed for better path tracking and stability. The complete model of this system is simulated in MATLAB/Simulink. The response of path tracking, collision avoidance and flying formation of each UAV are discussed in detail. Results highlight the collision avoidance depends upon a total number of nodes and distance between two consecutive nodes according to the roadmap.