A Laguerre-based Distributed Nonlinear Model Predictive Control Scheme for Dynamic Obstacle Avoidance on Multi-Rotor UAVs

This paper presents a Distributed NMPC approach for the problem of Dynamic Obstacle Avoidance based on Laguerre Polynomials combined with potential fields. The proposed approach aims at tackling the computational burden by using a combination of different methods to achieve real-time performance. Moreover, the approach benefits from being able to represent the projected paths of each UAV using a significantly reduced amount of information, thus reducing the bandwidth required for a practical implementation. The paper presents a complete derivation of the proposed approach along with an algorithm for its implementation, and discusses aspects specifically related to Multi-Rotor UAV models which can help to reduce the computational burden even further. The performance of the proposed approach is demonstrated through a simulation of 50 UAVs sharing common airspace.