NDLI: Sampling-based receding horizon collision-free control for a class of Micro Aerial Vehicles

Content Provider	IEEE Xplore Digital Library
Author	Alexis, K. Papachristos, C. Siegwart, R. Tzes, A.
Copyright Year	2015
Description	Author affiliation: Autonomous Syst. Lab., ETH Zurich, Zurich, Switzerland (Alexis, K.; Siegwart, R.) \|\| Electr. & Comput. Eng. Dept., Univ. of Patras, Patras, Greece (Papachristos, C.; Tzes, A.)
Abstract	A novel sampling-based receding horizon control strategy that guarantees collision-free navigation for a class of aerial robots is the topic of this paper. The proposed approach combines the concepts of receding horizon control and sampling-based navigation strategies in order to derive a model-based control framework, which respects input and state constraints, and achieves avoidance of any known obstacle while remaining computationally lightweight even for systems of high-order and complex, convex or non-convex obstacles and long prediction horizons. The control law is applied for the case of a multirotor Micro Aerial Vehicle that optionally also employs its capacity to direct its thrust via a rotors' tilting mechanism. Extensive simulation studies indicate that high performance collision-free navigation is achieved and reasonably long prediction horizons can be handled while remaining applicable for on-board deployment.
Starting Page	675
Ending Page	680
File Size	2741107
Page Count	6
File Format	PDF
ISBN	9781479999361
DOI	10.1109/MED.2015.7158824
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-16
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sampling-based methods Navigation Computational modeling Rotors Aerospace electronics Unmanned Aerial Vehicles Vehicle dynamics Aerial Robots Receding Horizon Control Robots Vehicles
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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