三维未知环境下四旋翼无人机的NMPC策略

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI:10.1109/ICAR46387.2019.8981556

Iuro B. P. Nascimento, A. Ferramosca, L. Pimenta, G. Raffo

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引用次数: 7

摘要

针对具有避障能力的四旋翼无人机，提出了一种在三维未知环境中具有静态障碍物的非线性模型预测控制策略。系统的目标是在最短的时间内到达目标，同时避开障碍物，同时考虑状态和输入的能量。对传感器信息进行处理，检测障碍物，得到无障碍区域的不等式约束。数值结果验证了系统的性能。

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NMPC Strategy for a Quadrotor UAV in a 3D Unknown Environment

This work presents a Nonlinear Model Predictive Control strategy for a quadrotor UAV with obstacle avoidance capability in a 3D unknown environment with static obstacles. The system aims to reach the target in minimum time while avoiding obstacles and also to take into account the energy of states and inputs. Sensor information is processed to detect the obstacles and obtain the inequality constraints of an obstacle-free zone. Numerical results are presented to attest the performance of the system.

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2019 19th International Conference on Advanced Robotics (ICAR)

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