Autonomous control of multiple quadrotors for collision‐free navigation

Abstract This paper addresses the development of a set novel autonomous control laws for navigation multiple mini or micro quadrotors in workspace populated with cylindrical obstacles. To authors' knowledge, this is first time that such inputs and avoidance obstacles being derived from single Lyapunov function. The achieved via Minimum Distance Technique allows quadrotor to avoid closest point on curved surface cylinder at every unit time. In addition, controllers ensure near‐to‐horizontal orientation hovering motion exhibited by neighborhood its target. capability has been solved completely solving underactuatedness which design maximum translational velocities needed vertical take‐off landing, hovering. important applications where payloads are sensitive acrobatic orientations. Computer simulations mimic real‐life scenarios using towers as city‐like environment illustrates effectiveness controllers.