A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

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

2022

Kód důvěrnosti údajů

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

Název statě ve sborníku

2022 International Conference on Unmanned Aircraft Systems (ICUAS)

ISBN

978-1-6654-0593-5

ISSN

2373-6720

e-ISSN

2575-7296

Počet stran výsledku

6

Strana od-do

1668-1673

Název nakladatele

IEEE Industrial Electronics Society

Místo vydání

Piscataway

Místo konání akce

Dubrovnik

Datum konání akce

21. 6. 2022

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000854030400199