A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00359361" target="_blank" >RIV/68407700:21230/22:00359361 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICUAS54217.2022.9836071" target="_blank" >https://doi.org/10.1109/ICUAS54217.2022.9836071</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICUAS54217.2022.9836071" target="_blank" >10.1109/ICUAS54217.2022.9836071</a>
Alternative languages
Result language
angličtina
Original language name
A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV
Original language description
A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy considers both realistic actuation limits at the torque level and visual perception constraints to enforce the visibility coverage of a target while complying with the mission objectives. Furthermore, the approach allows to safely navigate in a workspace area populated by dynamic obstacles with a ballistic motion. The formulation is meant to be generic and set upon a large class of multi-rotor vehicles that covers both coplanar designs like quadrotors as well as fully-actuated platforms with tilted propellers. The feasibility and effectiveness of the control strategy are demonstrated via closed-loop simulations achieved in MATLAB.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
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)
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2022 International Conference on Unmanned Aircraft Systems (ICUAS)
ISBN
978-1-6654-0593-5
ISSN
2373-6720
e-ISSN
2575-7296
Number of pages
6
Pages from-to
1668-1673
Publisher name
IEEE Industrial Electronics Society
Place of publication
Piscataway
Event location
Dubrovnik
Event date
Jun 21, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000854030400199