DeepAI AI Chat
Log In Sign Up

Nonlinear MPC for Collision Avoidance and Controlof UAVs With Dynamic Obstacles

08/03/2020
by   Bjorn Lindqvist, et al.
Luleå University of Technology
0

This article proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation allows for a fully parametric obstacle trajectory, while in this article we apply a classification scheme to differentiate between different kinds of trajectories to predict future obstacle positions. The trajectory calculation is done from an initial condition, and fed to the NMPC as an additional input. The solver used is the nonlinear, non-convex solver Proximal Averaged Newton for Optimal Control (PANOC) and its associated software OpEn (Optimization Engine), in which we apply a penalty method to properly consider the obstacles and other constraints during navigation. The proposed NMPC scheme allows for real-time solutions using a sampling time of 50 ms and a two second prediction of both the obstacle trajectory and the NMPC problem, which implies that the scheme can be considered as a local path-planner. This paper will present the NMPC cost function and constraint formulation, as well as the methodology of dealing with the dynamic obstacles. We include multiple laboratory experiments to demonstrate the efficacy of the proposed control architecture, and to show that the proposed method delivers fast and computationally stable solutions to the dynamic obstacle avoidance scenarios.

READ FULL TEXT
06/21/2023

Robotic Navigation with Convergence Guarantees in Complex Dynamic Environments

This article addresses the obstacle avoidance problem for setpoint stabi...
08/06/2020

Online Weight-adaptive Nonlinear Model Predictive Control

Nonlinear Model Predictive Control (NMPC) is a powerful and widely used ...
05/03/2019

Joint Vision-Based Navigation, Control and Obstacle Avoidance for UAVs in Dynamic Environments

This work addresses the problem of coupling vision-based navigation syst...
03/25/2022

Moving Obstacle Avoidance: a Data-Driven Risk-Aware Approach

This paper proposes a new structured method for a moving agent to predic...
02/12/2022

Optimization-based Trajectory Tracking Approach for Multi-rotor Aerial Vehicles in Unknown Environments

The goal of this paper is to develop a continuous optimization-based ref...