A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV

Andriy Dmytruk, Giuseppe Silano, Davide Bicego, Daniel Bonilla Licea, Martin Saska

Research output: Working paperPreprintAcademic

24 Downloads (Pure)

Abstract

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.
Original languageEnglish
DOIs
Publication statusPublished - 9 Feb 2023

Keywords

  • cs.RO

Fingerprint

Dive into the research topics of 'A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV'. Together they form a unique fingerprint.
  • A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV

    Dmytruk, A., Silano, G., Bicego, D., Licea, D. B. & Saska, M., 26 Jul 2022, 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022. IEEE, p. 1668-1673 6 p. (Proceedings of the ICUAS).

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    Open Access
    File
    5 Citations (Scopus)
    115 Downloads (Pure)

Cite this