Predictive Control for Chasing a Ground Vehicle using a UAV

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 c...

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Bibliographic Details
Published in:arXiv.org 2019-05
Main Authors: Byun, Jaeseung, Jain, Karan P, Nair, Siddharth H, Xu, Haoyun, Zha, Jiaming
Format: Article
Language:English
Subjects:
Computer simulation
Constraint modelling
Predictive control
Unmanned aerial vehicles
Online Access:Get full text
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Summary: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.
ISSN:2331-8422