Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00379000" target="_blank" >RIV/68407700:21230/25:00379000 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/LRA.2024.3518096" target="_blank" >https://doi.org/10.1109/LRA.2024.3518096</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2024.3518096" target="_blank" >10.1109/LRA.2024.3518096</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets

Popis výsledku v původním jazyce

Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena or intercepting dynamic targets. Agile planning using existing non-linear model predictive control methods is limited by the number of planning steps as it becomes increasingly computationally demanding. That reduces the prediction horizon length, leading to a decrease in solution quality. Besides, the fixed time-step length limits the utilization of the available UAV dynamics in the target neighborhood. In this letter, we propose to address these limitations by introducing variable time steps and coupling them with the prediction horizon length. A simplified point-mass motion primitive is used to leverage the differential flatness of quadrotor dynamics and the generation of feasible trajectories in the flat output space. Based on the presented evaluation results and experimentally validated deployment, the proposed method increases the solution quality by enabling planning for long flight segments but allowing tightly sampled maneuvering.

Název v anglickém jazyce

Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets

Popis výsledku anglicky

Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena or intercepting dynamic targets. Agile planning using existing non-linear model predictive control methods is limited by the number of planning steps as it becomes increasingly computationally demanding. That reduces the prediction horizon length, leading to a decrease in solution quality. Besides, the fixed time-step length limits the utilization of the available UAV dynamics in the target neighborhood. In this letter, we propose to address these limitations by introducing variable time steps and coupling them with the prediction horizon length. A simplified point-mass motion primitive is used to leverage the differential flatness of quadrotor dynamics and the generation of feasible trajectories in the flat output space. Based on the presented evaluation results and experimentally validated deployment, the proposed method increases the solution quality by enabling planning for long flight segments but allowing tightly sampled maneuvering.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

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

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

2025

Kód důvěrnosti údajů

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

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

10

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

1249-1256

Kód UT WoS článku

001385574500001

EID výsledku v databázi Scopus

2-s2.0-86000371695