MAV guidance with obstacle avoidance in an urban air traffic scenario

• Grant number: 19/05334-0
• Support Opportunities: Regular Research Grants
• Start date: August 01, 2019
• End date: January 31, 2022
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Davi Antônio dos Santos
• Grantee: Davi Antônio dos Santos
• Host Institution: Divisão de Engenharia Mecânica (IEM). Instituto Tecnológico de Aeronáutica (ITA). Ministério da Defesa (Brasil). São José dos Campos , SP, Brazil
• Associated researchers: Constantino Manuel Costa Lagoa ; Rubens Junqueira Magalhães Afonso
• Associated scholarship(s): 19/21866-2 - Technical training in aerial robotics experiments, BP.TT

Abstract

In the last decade, the multirotor aerial vehicles (MAVs) have become popular in research and in relatively simple applications such as aerial photography, structural inspection, and crop monitoring. On the one hand, we can observe the maturation of the autonomy capacity of MAVs that are now commercially available and, on the other hand, the desire for solutions in highly critical applications, such as electric VTOL or delivery goods, both in urban areas. A typical scenario for the mentioned critical applications requires vehicles endowed, inter alia, with the ability to perceive and deviate from obstacles that can be fixed (e.g., represented by buildings) or mobile (e.g., represented by other MAVs). Considering this kind of scenario, the present text proposes to investigate the problem of MAV guidance with obstacle avoidance. The general sense & avoid problem can be divided into two subproblems: one of perception and one of guidance. The subproblem of perception will not be the subject of this investigation; for experimental demonstration purposes, a suitable sensing system (a 3D camera) shall be adopted. With respect to the guidance subproblem, which is in fact the focus of this work, the robust and stochastic model predictive control strategies (RMPC and SMPC) will be adopted as the main research methodology. The methods to be proposed in this project will be evaluated in hardware-in-the-loop (HIL) simulation and in flight tests conducted indoors with two small quadricopters. (AU)

Scientific publications

(7)

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

SILVA JR, ARIOBERTO L.; SANTOS, DAVI A.. Fast Nonsingular Terminal Sliding Mode Flight Control for Multirotor Aerial Vehicles (vol 56, pg 4288, 2020). IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, v. 57, n. 5, p. 1-pg., 2021-10-01. (19/05334-0)

SILVA, ARIOBERTO L.; SANTOS, DAVI A.. Fast Nonsingular Terminal Sliding Mode Flight Control for Multirotor Aerial Vehicles. IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, v. 56, n. 6, p. 4288-4299, DEC 2020. (19/05334-0)

SANTOS, DAVI A.; LAGOA, CONSTANTINO M.. Wayset-based guidance of multirotor aerial vehicles using robust tube-based model predictive control. ISA TRANSACTIONS, v. 128, p. 13-pg., 2022-09-12. (17/06877-2, 19/05334-0)

RICARDO, JORGE A., JR.; DOS SANTOS, DAVI ANTONIO; MAGALHAES, ELISAN DOS SANTOS; AMER SOC MECH ENGINEERS. AERODYNAMIC SUBSONIC MODEL AT TRANSITIONAL/TURBULENT REYNOLDS NUMBER FOR BLUFF-ELLIPSOIDAL HULLS. PROCEEDINGS OF THE ASME 2020 FLUIDS ENGINEERING DIVISION SUMMER MEETING (FEDSM2020), VOL 2, v. N/A, p. 10-pg., 2020-01-01. (19/05334-0)

RICARDO JR, JORGE A.; SANTOS, DAVI A.. Smooth second-order sliding mode control for fully actuated multirotor aerial vehicles. ISA TRANSACTIONS, v. 129, p. 10-pg., 2022-10-10. (19/05334-0)

SANTOS, DAVI A.; BEZERRA, JOSE A.. On the control allocation of fully actuated multirotor aerial vehicles. AEROSPACE SCIENCE AND TECHNOLOGY, v. 122, p. 11-pg., 2022-03-01. (19/05334-0)

BEZERRA, JOSE AGNELO; SANTOS, DAVI A.. On the guidance of fully-actuated multirotor aerial vehicles under control allocation constraints using the receding-horizon strategy. ISA TRANSACTIONS, v. 126, p. 15-pg., 2022-07-01. (19/05334-0)