Dynamic obstacle avoidance based on null-space for quadcopter's formation

The aim of this paper consists in the designing, developing and simulation of a dynamic obstacle avoidance controller based on Null-Space. The proposed controller is used for the trajectory tracking of a formation of three quadcopters built from their kinematic model, to evade grounded and aerial mobile obstacles. The Null-Space based controller permits to change the priority of the task to achieve, allowing to define rigid or flexible formation depending on the priority task of the controller. The stability analysis of the control system shows that such a system is stable and simulation results validate the proposed control system.