Multiple-UAV-motion-control-system

Feb 2025:

I have create a new repo for this project: multiple-uav-motion-control-system-python.
This new repo converts most of the functions in this repo from Matlab to Python.
I cleaned up and refactored the code for better readability. Welcome to refer to the new repo.

May 2022:

Multiple UAV motion control system(initially named as AI based motion control) is my EE5003 project in NUS.
The code and result GIF is saved in this repository.
The RRT path planning algorithm is based on matlab-rrt-variants.

Other reference:

1. quadrotor
2. Motion-Planning-Algorithms
3. Rapidly-exploring-Random-Tree-RRT-

Working Process:

1. Select start point and end point for each UAV.
2. Use RRT algorithm to plan path.
3. Convert path to trajectory.
4. Detect collision for all the trajectories. Slow down low-priority UAVs if a collision is detected.
5. Show the results.

Configurable Items:

1. Number of UAVs.
2. RRT type.
3. RRT step size.
4. World size.
5. Create a random world or known world.

Here all some gif to illustrate the performance: Trajectories for 5 UAVs from different angles: Trajectories for 10 UAVs: