This video shows two MAVs with active collision avoidance in a real experiment. It accompanies the paper referenced below. Reference Kamel, Mina, et al. "Robust Collision Avoidance for Multiple Micro Aerial Vehicles Using Nonlinear Model Predictive Control." Abstract When several Multirotor Micro Aerial Vehicles (MAVs) share the same airspace, reliable and robust collision avoidance is required. In this paper we address the problem of multi-MAV reactive collision avoidance. We employ a model-based controller to simultaneously track a reference trajectory and avoid collisions. Moreover, to achieve a higher degree of robustness, our method also accounts for the uncertainty of the state estimator and of the position and velocity of the other agents. The proposed approach is decentralized, does not require a collision-free reference trajectory and accounts for the full MAV dynamics. We validated our approach in simulation and experimentally with two MAV.
Robust Collision Avoidance for Multiple Micro Aerial Vehicles Using Nonlinear Model Predictive Control
2017-05-02
oai:zenodo.org:1143717
Audiovisuelles Material
Elektronische Ressource
Englisch
DDC: | 629 |
BASE | 2020
|Collision Avoidance System for Vehicles Applying Model Predictive Control Theory
British Library Conference Proceedings | 1999
|Robust Model Predictive Control of Unmanned Aerial Vehicles Using Waysets
Online Contents | 2015
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