Sampling-based receding horizon collision-free control for a class of Micro Aerial Vehicles

Kostas Alexis, Christos Papachristos, Roland Siegwart, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A novel sampling-based receding horizon control strategy that guarantees collision-free navigation for a class of aerial robots is the topic of this paper. The proposed approach combines the concepts of receding horizon control and sampling-based navigation strategies in order to derive a model-based control framework, which respects input and state constraints, and achieves avoidance of any known obstacle while remaining computationally lightweight even for systems of high-order and complex, convex or non-convex obstacles and long prediction horizons. The control law is applied for the case of a multirotor Micro Aerial Vehicle that optionally also employs its capacity to direct its thrust via a rotors' tilting mechanism. Extensive simulation studies indicate that high performance collision-free navigation is achieved and reasonably long prediction horizons can be handled while remaining applicable for on-board deployment.

Original languageEnglish (US)
Title of host publication2015 23rd Mediterranean Conference on Control and Automation, MED 2015 - Conference Proceedings
EditorsVictor Munoz, Joseba Quevedo, Jorge L. Martinez, Jesus Morales
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages675-680
Number of pages6
ISBN (Electronic)9781479999361
DOIs
StatePublished - Jul 14 2015
Event23rd Mediterranean Conference on Control and Automation, MED 2015 - Torremolinos, Spain
Duration: Jun 16 2015Jun 19 2015

Publication series

Name2015 23rd Mediterranean Conference on Control and Automation, MED 2015 - Conference Proceedings

Other

Other23rd Mediterranean Conference on Control and Automation, MED 2015
CountrySpain
CityTorremolinos
Period6/16/156/19/15

Keywords

  • Aerial Robots
  • Receding Horizon Control
  • Sampling-based methods
  • Unmanned Aerial Vehicles

ASJC Scopus subject areas

  • Control and Optimization
  • Control and Systems Engineering

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