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Collision prevention in quadrotor UAV formations is essential for operational safety, particularly when high-density configurations must traverse restricted spaces. Unanticipated actuator faults inducing abrupt maneuvers can further compromise the situation. Various collision avoidance methodologies have been explored, including APF, model predictive control strategies, learning-based techniques, game-theoretic approaches, barrier Lyapunov function methods, and damped Hooke’s law implementations.

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Fixed-Time Collision-Free FTC for Quadrotor UAVs

  • 章节

  • 发表日期：

    2026年

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  • Ke Zhang,
  • Wanglei Cheng,
  • Qingyi Liu,
  • Bin Jiang

摘要

Collision prevention in quadrotor UAV formations is essential for operational safety, particularly when high-density configurations must traverse restricted spaces. Unanticipated actuator faults inducing abrupt maneuvers can further compromise the situation. Various collision avoidance methodologies have been explored, including APF, model predictive control strategies, learning-based techniques, game-theoretic approaches, barrier Lyapunov function methods, and damped Hooke’s law implementations.