• DSpace Universidad Indoamerica
  • Publicaciones Científicas
  • Artículos Científicos Indexados
  • Por favor, use este identificador para citar o enlazar este ítem: https://repositorio.uti.edu.ec//handle/123456789/3692
    Título : Nonlinear MPC for Multiple Quadrotors in Dynamic Environments
    Autor : Recalde, Luis
    Guevara, Bryan
    Andaluz, Víctor
    Varela-Aldás, José
    Gimenez, Javier
    Gandolfo, Daniel
    Fecha de publicación : 2022
    Editorial : 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022. Pages 1201 - 1209. Dubrovnik. 21 June 2022 through 24 June 2022
    Resumen : Accurate trajectory tracking for multiple quadrotors is essential for safe navigation in dynamic environments. However, this can be a challenge due to high nonlinearities of the systems, environment's obstacles and constraints in control actions. This article presents a nonlinear model predictive control (NMPC) for tracking a variety of trajectories using multiple quadrotors in a unknown environment with dynamic and static obstacles. The controller is formulated using kinematic and dynamic models of multiple commercial aerial robots (Mavic Pro 2), actuators limitations, and finally converting obstacles objects to states constraints. It was developed through CasADI, an open-source software for numerical optimization that provides a fast solution to keep each quadrotor on the desired trajectory while nonlinear constraints guarantee collision avoidance and smooth control signals. The controller is implemented in simulations to systematically evaluate the performance, considering tracking accuracy and computational time. The results of the simulations are presented to confirm that the proposed NMPC generates a smooth control values ensuring safe states for each aerial robot while following a desired trajectory in unknown environment.
    URI : https://ieeexplore.ieee.org/document/9836150
    http://repositorio.uti.edu.ec//handle/123456789/3692
    Aparece en las colecciones: Artículos Científicos Indexados

    Ficheros en este ítem:
    No hay ficheros asociados a este ítem.


    Este ítem está sujeto a una licencia Creative Commons Licencia Creative Commons Creative Commons