ICUAS'22 Paper Abstract

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Paper FrP5.8

Dmytruk, Andriy (Czech Technical University in Prague), Silano, Giuseppe (Czech Technical University in Prague), Bicego, Davide (University of Twente - RAM group), Bonilla Licea, Daniel (Czech Technical University in Prague), Saska, Martin (Czech Technical University in Prague FEE)

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

Scheduled for presentation during the Poster Session "Poster Session" (FrP5), Friday, June 24, 2022, 09:00−11:00, Elafiti

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Multirotor Design and Control, Perception and Cognition, Simulation

Abstract

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.

 

 

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