| Abstract: |  The trajectory planning system originally designed for stabilization of formations of Micro Aerial Vehicles (MAV) is extended to enable complex maneuvers that require sudden changes of velocity of the group as well as the individual formation members. The model predictive control based algorithm is combined with formation representation by flexible virtual structure. Furthermore, the velocity controller for the quadrocopters based on position geometric controller is presented to enable the movement of formation members and whole formation in any direction. The proposed system is implemented and verified in the V-REP (virtual robot experimentation platform) simulation software with studying the influence of mutual interactions between MAVs of the formation, which are caused by the air flow from their propellers. |
|---|