Nonlinear Model Predictive Control on SE(3) for Quadrotor Aggressive Maneuvers

Autor(es)

Pereira, Jean C. ^{[1, 2]} ; Leite, Valter J. S. ^[2] ; Raffo, Guilherme V. ^{[3, 1]}

Afiliação do(s) autor(es)

^[1] Fed Univ Minas Gerais UFMG, Grad Program Elect Engn, BR-31270901 Belo Horizonte, MG - Brazil

^[2] CEFET MG, Dept Mechatron Engn, Campus Divinopolis, BR-35503822 Divinopolis, MG - Brazil

^[3] Fed Univ Minas Gerais UFMG, Dept Elect Engn, BR-31270901 Belo Horizonte, MG - Brazil

• Tipo de documento: Artigo Científico
• Fonte: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS; v. 101, n. 3 MAR 4 2021.
• Citações Web of Science: 0

Resumo

Applications involving Unmanned Aerial Vehicles (UAVs) have increasingly required faster and more accurate movements to reduce flight time and to improve efficiency in the obstacle avoidance capability. In this context, this work proposes a nonlinear model predictive control (NMPC) strategy formulated on the Special Euclidean group SE(3) for quadrotor trajectory tracking within cluttered environments with unknown obstacles. The approach considers constraints in the states and inputs, with constant disturbance rejection and capable of executing aggressive maneuvers. The UAV attitude is considered as an optimization variable within the control problem thanks to an algebraic ellipsoidal set approach. As a consequence, the collision check takes the UAV attitude into account, allowing aggressive maneuvers. Numerical experiments under realistic conditions allow evaluating the performance of the proposed approach for the UAV. The tested maneuvers are throwing a narrow gap, passing by a nonconvex obstacle gap, avoiding a convex obstacle, and doing slalom movements. In all cases, uncertainties are considered. The achieved results indicate the advantages of executing aggressive maneuvers. (AU)

• Processo FAPESP: 14/50851-0 - INCT 2014: Instituto Nacional de Ciência e Tecnologia para Sistemas Autônomos Cooperativos Aplicados em Segurança e Meio Ambiente
• Beneficiário: Marco Henrique Terra
• Modalidade de apoio: Auxílio à Pesquisa - Temático