Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVS

Martin Jacquet, Gianluca Corsini, Davide Bicego, Antonio Franchi

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

10 Citations (Scopus)
51 Downloads (Pure)

Abstract

In this paper, we present a Perception-constrained Nonlinear Model Predictive Control (NMPC) framework for the real-time control of multi-rotor aerial vehicles. Our formulation considers both constraints from a perceptive sensor and realistic actuator limitations that are the rotor minimum and maximum speeds and accelerations. The formulation is meant to be generic and considers a large range of multi-rotor platforms (such as underactuated quadrotors or tilted-propellers hexarotors) since it does not rely on differential flatness for the dynamical equations, and a broad range of sensors, such as cameras, lidars, etc.... The perceptive constraints are expressed to maintain visibility of a feature point in the sensor's field of view, while performing a reference maneuver. We demonstrate both in simulation and real experiments that our framework is able to exploit the full capabilities of the multi-rotor, to achieve the motion under the aforementioned constraints, and control in real-time the platform at a motor-torque level, avoiding the use of an intermediate unconstrained trajectory tracker.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation (ICRA)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages4301-4306
Number of pages6
ISBN (Electronic)978-1-7281-7395-5, 978-1-7281-7394-8 (USB)
ISBN (Print)978-1-7281-7396-2
DOIs
Publication statusPublished - 15 Sept 2020
EventInternational Conference on Robotics and Automation, ICRA 2020 - Virtual Conference, Paris, France
Duration: 31 May 202031 Aug 2020
https://www.icra2020.org/

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Volume2020
ISSN (Print)1050-4729
ISSN (Electronic)2577-087X

Conference

ConferenceInternational Conference on Robotics and Automation, ICRA 2020
Abbreviated titleICRA 2020
Country/TerritoryFrance
CityParis
Period31/05/2031/08/20
Internet address

Keywords

  • murophen
  • aerialcore
  • flyingcoworker
  • 22/2 OA procedure

Fingerprint

Dive into the research topics of 'Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVS'. Together they form a unique fingerprint.

Cite this