Constrained model-based predictive control for obstacle avoidance

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Authors
  1. Boivin, É.
  2. Desbiens, A.
  3. Gagnon, É.
Corporate Authors
Defence Research and Development Canada, Valcartier Research Centre, Quebec QC (CAN)
Abstract
This article describes the use of predictive control for the control of an unmanned aerial vehicle in an unfamiliar three-dimensional environment. The vehicle must reach fixed targets at known positions while avoiding ellipsoid static obstacles that are detected on the way. For obstacle avoidance, constraints are implemented such that the predicted future UAV path does not intersect with the obstacles. The implementation of this approach is first tested with a hardware-in-the-loop system. Real flights with a 2.41 m wingspan airplane successfully confirm the applicability of the method.
Keywords
model predictive control;obstacle avoidance
Report Number
DRDC-RDDC-2016-N013 — External Literature
Date of publication
19 Jul 2016
Number of Pages
6
DSTKIM No
CA042907
CANDIS No
804179
Format(s):
Electronic Document(PDF)

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