| Autor(es): |
Nascimento, Iuro B. P.
;
Ferramosca, Antonio
;
Pimenta, Luciano C. A.
;
Raffo, Guilherme, V
;
IEEE
Número total de Autores: 5
|
| Tipo de documento: | Artigo Científico |
| Fonte: | 2019 19TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR); v. N/A, p. 6-pg., 2019-01-01. |
| Resumo | |
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) | |
| 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 |