複数ドローンのロバスト衝突回避を実現する非線形モデル予測制御
Nonlinear Model Predictive Control for Multi-Micro Aerial Vehicle Robust Collision Avoidance
複数の小型ドローンが同じ空域を飛ぶ際の衝突回避を、非線形モデル予測制御で実現する手法を提案。状態推定や他機の位置・速度の不確かさも考慮し、シミュレーションと実機実験で検証した。
著者: Mina Kamel, Javier Alonso-Mora, Roland Siegwart, Juan Nieto
分類: cs.RO
原文アブストラクト
Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique. In this paper we address the problem of multi-MAV reactive collision avoidance. A model-based controller is employed to achieve simultaneously reference trajectory tracking and collision avoidance. Moreover, we also account for the uncertainty of the state estimator and the other agents position and velocity uncertainties to achieve a higher degree of robustness. The proposed approach is decentralized, does not require collision-free reference trajectory and accounts for the full MAV dynamics. We validated our approach in simulation and experimentally.
