Rapidly Exploring Random Trees-Based Initialization of MPC Technique Designed for Formations of MAVs
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00219264" target="_blank" >RIV/68407700:21230/14:00219264 - isvavai.cz</a>
Result on the web
—
DOI - Digital Object Identifier
—
Alternative languages
Result language
angličtina
Original language name
Rapidly Exploring Random Trees-Based Initialization of MPC Technique Designed for Formations of MAVs
Original language description
Motion planning techniques suited for initialization of Model Predictive Control based methodology applied for complex manoeuvring and stabilization of formations of Micro Aerial Vehicles is proposed in this paper. Two approaches to initialization of theformation driving method will be described, experimentally verified, evaluated and compared. The first proposed method is based on multiobjective optimization of the trajectory guess obtained by a Rapidly Exploring Random Trees technique. It representsan easy to implement and robust method suited for off-line initialization of the formation driving algorithm. The second proposed method is based on sequential processing of parts of the obtained trajectory. This method is well scalable and thus applicable in large workspaces with complex obstacles. In addition, the second method enables a significant reduction of computational time as is shown by comparison of series of simulations in different environments.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
—
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
ISBN
978-989-758-040-6
ISSN
—
e-ISSN
—
Number of pages
8
Pages from-to
436-443
Publisher name
SciTePress - Science and Technology Publications
Place of publication
Porto
Event location
Vienna
Event date
Sep 1, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—