Reactive MPC for Autonomous MAV Navigation in Indoor Cluttered Environments: Flight Experiments

被引：12
|
作者：
Marzat, Julien [1 ]
Bertrand, Sylvain [1 ]
Eudes, Alexandre [1 ]
Sanfourche, Martial [1 ]
Moras, Julien [1 ]
机构：
[1] Off Natl Etud & Rech Aerosp, Palaiseau, France
来源：
IFAC PAPERSONLINE | 2017年 / 50卷 / 01期
关键词：
Flight experiments; Micro-air vehicles; Model Predictive Control; Vision-based localization and mapping;
D O I：
10.1016/j.ifacol.2017.08.1910
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This demonstrator paper describes a flight-tested, fully integrated perception-control loop for trajectory tracking with obstacle avoidance by micro-air vehicles (MAV) in indoor cluttered environments. For this purpose, a stereo-vision system is combined with an inertial measurement unit to estimate the vehicle localization and build a 3D model of the environment on-board. Emphasis is placed on a model predictive control (MPC) algorithm for safe guidance in unknown areas using the perception information. It combines an analytical linear quadratic solution for trajectory tracking and an efficient discretization strategy for collision avoidance. Experimental results in a flying arena and at an industrial site provide an overview of the demonstrator capabilities. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：15996 / 16002
页数：7
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