衝突回避制約付き非線形MPCによる地下環境でのMAVナビゲーション
Subterranean MAV Navigation based on Nonlinear MPC with Collision Avoidance Constraints
2D LiDARで障害物を検知し、衝突回避制約を組み込んだ非線形モデル予測制御でトンネル内を飛行するMAVナビゲーション手法を提案し、スウェーデンの地下鉱山で実証した。
著者: Sina Sharif Mansouri, Christoforos Kanellakis, Emil Fresk, Bjorn Lindqvist, Dariusz Kominiak, Anton Koval, Pantelis Sopasakis, George Nikolakopoulos
分類: cs.RO
原文アブストラクト
Micro Aerial Vehicles (MAVs) navigation in subterranean environments is gaining attention in the field of aerial robotics, however there are still multiple challenges for collision free navigation in such harsh environments. This article proposes a novel baseline solution for collision free navigation with Nonlinear Model Predictive Control (NMPC). In the proposed method, the MAV is considered as a floating object, where the velocities on the $x$, $y$ axes and the position on altitude are the references for the NMPC to navigate along the tunnel, while the NMPC avoids the collision by considering kinematics of the obstacles based on measurements from a 2D lidar. Moreover, a novel approach for correcting the heading of the MAV towards the center of the mine tunnel is proposed, while the efficacy of the suggested framework has been evaluated in multiple field trials in an underground mine in Sweden.
