Nonlinear Model Predictive Control on SE(3) for Quadrotor Aggressive Maneuvers

Applications involving Unmanned Aerial Vehicles (UAVs) have increasingly required faster and more accurate movements to reduce flight time and to improve efficiency in the obstacle avoidance capability. In this context, this work proposes a nonlinear model predictive control (NMPC) strategy formulat...

Full description

Saved in:
Bibliographic Details
Published in:Journal of intelligent & robotic systems 2021-03, Vol.101 (3), Article 62
Main Authors: Pereira, Jean C., Leite, Valter J. S., Raffo, Guilherme V.
Format: Article
Language:English
Subjects:
Analysis
Artificial Intelligence
Attitudes
Control
Drone aircraft
Electrical Engineering
Engineering
Flight time
Maneuvers
Mechanical Engineering
Mechatronics
Nonlinear control
Obstacle avoidance
Optimization
Predictive control
Robotics
Throwing
Topical Collection on ICAR 2019 Special Issue
Unmanned aerial vehicles
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Applications involving Unmanned Aerial Vehicles (UAVs) have increasingly required faster and more accurate movements to reduce flight time and to improve efficiency in the obstacle avoidance capability. In this context, this work proposes a nonlinear model predictive control (NMPC) strategy formulated on the Special Euclidean group SE(3) for quadrotor trajectory tracking within cluttered environments with unknown obstacles. The approach considers constraints in the states and inputs, with constant disturbance rejection and capable of executing aggressive maneuvers. The UAV attitude is considered as an optimization variable within the control problem thanks to an algebraic ellipsoidal set approach. As a consequence, the collision check takes the UAV attitude into account, allowing aggressive maneuvers. Numerical experiments under realistic conditions allow evaluating the performance of the proposed approach for the UAV. The tested maneuvers are throwing a narrow gap, passing by a nonconvex obstacle gap, avoiding a convex obstacle, and doing slalom movements. In all cases, uncertainties are considered. The achieved results indicate the advantages of executing aggressive maneuvers.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-021-01310-8