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Evasive Maneuvering for UAVs: An MPC Approach
Castillo Lopez, Manuel; Olivares Mendez, Miguel Angel; Voos, Holger
2017In ROBOT'2017 - Third Iberian Robotics Conference, Sevilla, Spain, 2017
Peer reviewed
 

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Keywords :
MPC; UAV; Obstacle Avoidance; RHC; UAS; Evasive Maneuvering; Model Predictive Control; Receding Horizon Control; Optimal Control Problem; Unmanned Aerial Vehicle; Aerial Robot; Drone; Quadrotor
Abstract :
[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.
Research center :
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Automation & Robotics Research Group
Disciplines :
Computer science
Author, co-author :
Castillo Lopez, Manuel ;  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)
External co-authors :
yes
Language :
English
Title :
Evasive Maneuvering for UAVs: An MPC Approach
Publication date :
22 November 2017
Event name :
ROBOT'2017 - Third Iberian Robotics Conference
Event place :
Sevilla, Spain
Event date :
Nov 22-24
Audience :
International
Main work title :
ROBOT'2017 - Third Iberian Robotics Conference, Sevilla, Spain, 2017
Peer reviewed :
Peer reviewed
Focus Area :
Computational Sciences
Available on ORBilu :
since 10 November 2017

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