Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00376130" target="_blank" >RIV/68407700:21230/24:00376130 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/IROS58592.2024.10802756" target="_blank" >https://doi.org/10.1109/IROS58592.2024.10802756</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS58592.2024.10802756" target="_blank" >10.1109/IROS58592.2024.10802756</a>
Alternative languages
Result language
angličtina
Original language name
Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles
Original language description
This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Integral (MPPI) methodology. MPPI allows the use of the full nonlinear model of UAV dynamics and a more general cost function at the cost of a high computational demand. To run the controller in real-time, the sampling-based optimization is performed in parallel on a graphics processing unit onboard the UAV. We propose an approach to the simulation of the nonlinear system which respects low-level constraints, while also able to dynamically handle obstacle avoidance, and prove that our methods are able to run in real-time without the need for external computers. The MPPI controller is compared to MPC and SE(3) controllers on the reference tracking task, showing a comparable performance. We demonstrate the viability of the proposed method in multiple simulation and real-world experiments, tracking a reference at up to 44 km/h and acceleration close to 20 m/s^2 , while still being able to avoid obstacles. To the best of our knowledge, this is the first method to demonstrate an MPPI-based approach in real flight.
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
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
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
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)
ISBN
979-8-3503-7770-5
ISSN
2153-0858
e-ISSN
2153-0866
Number of pages
8
Pages from-to
13144-13151
Publisher name
IEEE
Place of publication
Piscataway
Event location
Abu Dhabi
Event date
Oct 14, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001433985300727