Model Predictive Trajectory Tracking and Collision Avoidance for Reliable Outdoor Deployment of Unmanned Aerial Vehicles

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00324734" target="_blank" >RIV/68407700:21230/18:00324734 - isvavai.cz</a>

Result on the web

—

DOI - Digital Object Identifier

—

Result language

angličtina

Original language name

Model Predictive Trajectory Tracking and Collision Avoidance for Reliable Outdoor Deployment of Unmanned Aerial Vehicles

Original language description

We propose a novel approach for optimal trajectory tracking for unmanned aerial vehicles (UAV), using a linear model predictive controller (MPC) in combination with non-linear state feedback. The solution relies on fast onboard simulation of the translational dynamics of the UAV, which is guided by a linear MPC. By sampling the states of the virtual UAV, we create a control command for fast non-linear feedback, which is capable of performing agile maneuvers with high precision. In addition, the proposed pipeline provides an interface for a decentralized collision avoidance system for multi-UAV scenarios. Our solution makes use of the long prediction horizon of the linear MPC and allows safe outdoors execution of multi-UAV experiments without the need for in-advance collision-free planning. The practicality of the tracking mechanism is shown in combination with priority-based collision resolution strategy, which performs sufficiently in experiments with up to 5 UAVs. We present a statistical and experimental evaluation of the platform in both simulation and real-world examples, demonstrating the usability of the approach.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

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

Project

<a href="/en/project/GJ17-16900Y" target="_blank" >GJ17-16900Y: Stabilization and control of teams of relatively-localized micro aerial vehicles in high obstacle density areas</a><br>

Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2018

Confidentiality

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

Article name in the collection

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISBN

978-1-5386-8093-3

ISSN

2153-0858

e-ISSN

2153-0866

Number of pages

8

Pages from-to

—

Publisher name

IEEE Press

Place of publication

New York

Event location

Madrid

Event date

Oct 1, 2018

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000458872706029