| Author(s): |
Nascimento, Iuro B. P.
;
Ferramosca, Antonio
;
Pimenta, Luciano C. A.
;
Raffo, Guilherme, V
;
IEEE
Total Authors: 5
|
| Document type: | Journal article |
| Source: | 2019 19TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR); v. N/A, p. 6-pg., 2019-01-01. |
| Abstract | |
This work presents a Nonlinear Model Predictive Control strategy for a quadrotor UAV with obstacle avoidance capability in a 3D unknown environment with static obstacles. The system aims to reach the target in minimum time while avoiding obstacles and also to take into account the energy of states and inputs. Sensor information is processed to detect the obstacles and obtain the inequality constraints of an obstacle-free zone. Numerical results are presented to attest the performance of the system. (AU) | |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |