OBSTACLE AVOIDANCE CONTROL FOR CLUSTER-BASED UNMANNED AERIAL VEHICLE FORMATION WITH MULTIPLE CONSTRAINTS

In this paper, we conduct research on coordinated obstacle avoidance for multiple Unmanned Aerial Vehicles (UAVs).In this scenario, it is known that the existing communication and computing capabilities and resources severely limit the scalability of the formation.To solve this problem, a cluster-based strategy is proposed to divide numerous UAVs i

A model of power market with a simple market clearing price mechanism on microgrid is considered.Market participants are consumers, prosumers with energy phyre vapes storage systems (ESS), and the power company as a guaranteed supplier.Prosumers charge their ESS in the first off-peak period with low prices from the static nail coupon power company