高速集中型NMPCによる複数MAVの衝突回避
Collision avoidance for multiple MAVs using fast centralized NMPC
複数の小型飛行ロボットを集中型非線形モデル予測制御でまとめて制御し、障害物・機体間衝突を避けつつ位置追従を高速に実現する手法を提案した論文。
著者: Björn Lindqvist, Sina Sharif Mansouri, Pantelis Sopasakis, George Nikolakopoulos
分類: cs.RO
原文アブストラクト
This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs). The control architecture uses an augmented state system to control multiple agents and performs both obstacle and collision avoidance. The optimization algorithm used is OpEn, based on the proximal averaged Newton type method for optimal control (PANOC) which provides fast convergence for non-convex optimization problems. The objective is to perform position reference tracking for each individual agent, while nonlinear constrains guarantee collision avoidance and smooth control signals. To produce a trajectory that satisfies all constraints a penalty method is applied to the nonlinear constraints. The efficacy of this proposed novel control scheme is successfully demonstrated through simulation results and comparisons, in terms of computation time and constraint violations, while are provided with respect to the number of agents.
