Path Planning in Three Dimensional Environment Using Feedback Linearization (Preprint)

摘要

This paper presents a control scheme via feedback linearization for three-dimensional cooperative path planning of a class of interconnected systems in general, and unmanned aerial vehicles (UAVs) in particular. It is shown that the feedback linearization technique along with a distance varied repulsive profile allows UAVs to converge to the invariant set of a known target location without colliding with other vehicles. Lyapunov stability analysis shows the conditions under which such systems are stable. Also a task assignment algorithm, which is a function of distance between the UAVs and the target, is proposed for dealing with multi-UAV and multi-target scenarios.