In this article, we propose a collision-free model predictive trajectory tracking control algorithm for unmanned aerial vehicles (UAVs) in environments with both static obstacles and dynamic obstacles. Collision avoidance is ensured by obtaining outer polyhedral approximations of each interval of the dynamic obstacles trajectories based on MINVO basis, and then, optimizing a plane to separate the polyhedra and the trajectory of the UAV. By incorporating the resulting computationally efficient collision-free constraints and divers physical constraints, a model predictive control optimization problem is formulated with a tailored terminal constraint set, which can be solved by a standard nonlinear programming solver. Moreover, the control theoretic properties are established, including recursive feasibility, the guarantee of collision avoidance, as well as closed-loop stability. Finally, the efficacy of the proposed algorithm is successfully evaluated by a simulation in a multiobstacle environment.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Collision-Free Model Predictive Trajectory Tracking Control for UAVs in Obstacle Environment


    Contributors:
    Huo, Da (author) / Dai, Li (author) / Chai, Runqi (author) / Xue, Ruochen (author) / Xia, Yuanqing (author)


    Publication date :

    2023-06-01


    Size :

    2838889 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Collision-free trajectory generation for UAVs using Markov decision process

    Yu, Xiang / Zhou, Xiaobin / Zhang, Youmin | IEEE | 2017


    Trajectory tracking control of thrust-vectoring UAVs

    Invernizzi, Davide / Lovera, Marco | BASE | 2018

    Free access

    Collision-free trajectory planning for UAVs based on sequential convex programming

    Zhang, Peiwang / Mei, Yu / Wang, Hao et al. | Elsevier | 2024


    Sensor Model-Based Trajectory Optimization for UAVs Using Nonlinear Model Predictive Control

    Zwick, Markus / Gerdts, Matthias / Stütz, Peter | TIBKAT | 2022