Model Predictive Trajectory Tracking and Collision Avoidance for Reliable Outdoor Deployment of Unmanned Aerial Vehicles

Tomas Baca, Daniel Hert, Giuseppe Loianno, Martin Saska, Vijay Kumar

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

Abstract

We propose a novel approach for optimal trajectory tracking for unmanned aerial vehicles (UAV), using a linear model predictive controller (MPC) in combination with non-linear state feedback. The solution relies on fast onboard simulation of the translational dynamics of the UAV, which is guided by a linear MPC. By sampling the states of the virtual UAV, we create a control command for fast non-linear feedback, which is capable of performing agile maneuvers with high precision. In addition, the proposed pipeline provides an interface for a decentralized collision avoidance system for multi-UAY scenarios. Our solution makes use of the long prediction horizon of the linear MPC and allows safe outdoors execution of multi-UAV experiments without the need for in-advance collision-free planning. The practicality of the tracking mechanism is shown in combination with priority-based collision resolution strategy, which performs sufficiently in experiments with up to 5 UAVs. We present a statistical and experimental evaluation of the platform in both simulation and real-world examples, demonstrating the usability of the approach.

Original languageEnglish (US)
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6753-6760
Number of pages8
ISBN (Electronic)9781538680940
DOIs
StatePublished - Dec 27 2018
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: Oct 1 2018Oct 5 2018

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period10/1/1810/5/18

Fingerprint

Collision avoidance
Unmanned aerial vehicles (UAV)
Trajectories
Controllers
State feedback
Pipelines
Experiments
Sampling
Feedback
Planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Baca, T., Hert, D., Loianno, G., Saska, M., & Kumar, V. (2018). Model Predictive Trajectory Tracking and Collision Avoidance for Reliable Outdoor Deployment of Unmanned Aerial Vehicles. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 6753-6760). [8594266] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8594266

Model Predictive Trajectory Tracking and Collision Avoidance for Reliable Outdoor Deployment of Unmanned Aerial Vehicles. / Baca, Tomas; Hert, Daniel; Loianno, Giuseppe; Saska, Martin; Kumar, Vijay.

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 6753-6760 8594266 (IEEE International Conference on Intelligent Robots and Systems).

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

Baca, T, Hert, D, Loianno, G, Saska, M & Kumar, V 2018, Model Predictive Trajectory Tracking and Collision Avoidance for Reliable Outdoor Deployment of Unmanned Aerial Vehicles. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8594266, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 6753-6760, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 10/1/18. https://doi.org/10.1109/IROS.2018.8594266
Baca T, Hert D, Loianno G, Saska M, Kumar V. Model Predictive Trajectory Tracking and Collision Avoidance for Reliable Outdoor Deployment of Unmanned Aerial Vehicles. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 6753-6760. 8594266. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2018.8594266
Baca, Tomas ; Hert, Daniel ; Loianno, Giuseppe ; Saska, Martin ; Kumar, Vijay. / Model Predictive Trajectory Tracking and Collision Avoidance for Reliable Outdoor Deployment of Unmanned Aerial Vehicles. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 6753-6760 (IEEE International Conference on Intelligent Robots and Systems).
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