Embedded Fast Nonlinear Model Predictive Control for Micro Aerial Vehicles

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00353586" target="_blank" >RIV/68407700:21230/21:00353586 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1007/s10846-021-01522-y" target="_blank" >https://doi.org/10.1007/s10846-021-01522-y</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s10846-021-01522-y" target="_blank" >10.1007/s10846-021-01522-y</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Embedded Fast Nonlinear Model Predictive Control for Micro Aerial Vehicles

Popis výsledku v původním jazyce

Very small size or micro, aerial vehicles are being recently studied due to the large influence of environmental disturbances. The multirotor aerial vehicle (MAV) usually requires control approaches that can guarantee a safe operation. However, limitations with respect to the embedded system (i.e. energy, processing power, memory, etc.) are usually present. In this work, we propose the use of Nonlinear model predictive control (NMPC), which can safely respect input constraints. In contrast, the application of NMPC in embedded systems of Micro-MAV is typically challenging. To solve this issue, we propose a modification on the NMPC called Embedded Fast NMPC that can ensure the implementation of the position controller safely and stably. Micro Multirotor Aerial Vehicles (Micro-MAVs) use low processing power boards. These boards usually rely solely on on-board sensors to perform localization and target detection, which in turn makes this platform suitable for experiments in GNSS-denied environments. We validate our approach with real robot experiments using a Micro-MAV.

Název v anglickém jazyce

Embedded Fast Nonlinear Model Predictive Control for Micro Aerial Vehicles

Popis výsledku anglicky

Very small size or micro, aerial vehicles are being recently studied due to the large influence of environmental disturbances. The multirotor aerial vehicle (MAV) usually requires control approaches that can guarantee a safe operation. However, limitations with respect to the embedded system (i.e. energy, processing power, memory, etc.) are usually present. In this work, we propose the use of Nonlinear model predictive control (NMPC), which can safely respect input constraints. In contrast, the application of NMPC in embedded systems of Micro-MAV is typically challenging. To solve this issue, we propose a modification on the NMPC called Embedded Fast NMPC that can ensure the implementation of the position controller safely and stably. Micro Multirotor Aerial Vehicles (Micro-MAVs) use low processing power boards. These boards usually rely solely on on-board sensors to perform localization and target detection, which in turn makes this platform suitable for experiments in GNSS-denied environments. We validate our approach with real robot experiments using a Micro-MAV.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název periodika

Journal of Intelligent and Robotic Systems

ISSN

0921-0296

e-ISSN

1573-0409

Svazek periodika

2021

Číslo periodika v rámci svazku

103

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

11

Strana od-do

—

Kód UT WoS článku

000723651300002

EID výsledku v databázi Scopus

2-s2.0-85120165325