Surrogate Modeling of Optimal Control Based Collision Avoidance System for Multirotor Unmanned Aerial Vehicles

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F23%3APU149409" target="_blank" >RIV/00216305:26230/23:PU149409 - isvavai.cz</a>

Result on the web

<a href="https://ieeexplore.ieee.org/document/10311265" target="_blank" >https://ieeexplore.ieee.org/document/10311265</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/DASC58513.2023.10311265" target="_blank" >10.1109/DASC58513.2023.10311265</a>

Result language

angličtina

Original language name

Surrogate Modeling of Optimal Control Based Collision Avoidance System for Multirotor Unmanned Aerial Vehicles

Original language description

A dynamically changing operating environment, along with constraints imposed through applicable safety requirements, pose significant challenges to autonomous multi-rotor manned and unmanned aerial vehicle operations in urban areas. Safety-critical onboard collision avoidance capability requires fast decision making accounting for uncertainties arising in complex environments. Successive convexification approach is applied to generate collision avoidance trajectories assuming both static and moving obstacles. The uncertainties arising in estimated state of moving obstacles are accounted for by construction of Polynomial Chaos Expansion based surrogate model. The obtained surrogate model can be evaluated in real-time to update the collision avoidance trajectory in case of change of tracked obstacle's state. The designed trajectories are subsequently tracked using a closed-loop Model Predictive Control scheme assuming a quadcopter configuration.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

—

Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

AIAA/IEEE Digital Avionics Systems Conference - Proceedings

ISBN

979-8-3503-3357-2

ISSN

2155-7195

e-ISSN

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Number of pages

7

Pages from-to

1-7

Publisher name

Institute of Electrical and Electronics Engineers

Place of publication

Barcelona

Event location

Barcelona

Event date

Oct 1, 2023

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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