Reference : Evasive Maneuvering for UAVs: An MPC Approach
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Computer science
Computational Sciences
http://hdl.handle.net/10993/32966
Evasive Maneuvering for UAVs: An MPC Approach
English
Castillo Lopez, Manuel mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Olivares Mendez, Miguel Angel [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
22-Nov-2017
ROBOT'2017 - Third Iberian Robotics Conference, Sevilla, Spain, 2017
Yes
International
ROBOT'2017 - Third Iberian Robotics Conference
Nov 22-24
Sevilla
Spain
[en] MPC ; UAV ; Obstacle Avoidance ; RHC ; UAS ; Evasive Maneuvering ; Model Predictive Control ; Receding Horizon Control ; Optimal Control Problem ; Unmanned Aerial Vehicle ; Aerial Robot ; Drone ; Quadrotor
[en] Flying autonomously in a workspace populated by obstacles is one of the main goals when working with Unmanned Aerial Vehicles (UAV). To address this challenge, this paper presents a model predictive flight controller that drives the UAV through collision-free trajectories to reach a given pose or follow a way-point path. The major advantage of this approach lies on the inclusion of three-dimensional obstacle avoidance in the control layer by adding ellipsoidal constraints to the optimal control problem. The obstacles can be added, moved and resized online, providing a way to perform waypoint navigation without the need of motion planning. In addition, the delays of the system are considered in the prediction by an experimental first order with delay model of the system. Successful experiments in 3D path tracking and obstacle avoidance validates its effectiveness for sense-and-avoid and surveillance applications presenting the proper structure
to extent its autonomy and applications.
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Automation & Robotics Research Group
Researchers ; Professionals ; Students ; General public
http://hdl.handle.net/10993/32966

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