Predictive Control for Chasing a Ground Vehicle using a UAV

05/22/2019

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by   Jaeseung Byun, et al.

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We propose a high-level planner for a multirotor to chase a ground vehicle, while simultaneously respecting various state and input constraints. Assuming a minimal kinematic model for the ground vehicle, we use data collected online to generate predictions for our planner within a model predictive control framework. Our solution is demonstrated, both via simulations and experiments on a stable quadcopter platform.