知覚を考慮したNMPCによるマルチロータUAVの視覚ベース目標追跡と衝突回避
A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV
マルチロータUAVが視覚で目標を追跡しながら動的障害物を避けるため、知覚制約とトルク限界を考慮した非線形モデル予測制御(NMPC)を提案し、MATLABシミュレーションで有効性を示した。
著者: Andriy Dmytruk, Giuseppe Silano, Davide Bicego, Daniel Bonilla Licea, Martin Saska
分類: cs.RO
原文アブストラクト
A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy considers both realistic actuation limits at the torque level and visual perception constraints to enforce the visibility coverage of a target while complying with the mission objectives. Furthermore, the approach allows to safely navigate in a workspace area populated by dynamic obstacles with a ballistic motion. The formulation is meant to be generic and set upon a large class of multi-rotor vehicles that covers both coplanar designs like quadrotors as well as fully-actuated platforms with tilted propellers. The feasibility and effectiveness of the control strategy are demonstrated via closed-loop simulations achieved in MATLAB.
