Aerial navigation in obstructed environments with embedded nonlinear model predictive control

We propose a methodology for autonomous aerial navigation and obstacle avoidance of micro aerial vehicles (MAV) using nonlinear model predictive control (NMPC) and we demonstrate its effectiveness with laboratory experiments. The proposed methodology can accommodate obstacles of arbitrary, potential...

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Veröffentlicht in:	arXiv.org 2018-12
Hauptverfasser:	Small, Elias, Sopasakis, Pantelis, Fresk, Emil, Patrinos, Panagiotis, Nikolakopoulos, George
Format:	Artikel
Sprache:	eng
Schlagworte:	Autonomous navigation Autonomy Depletion Maneuvers Mathematical models Micro air vehicles (MAV) Nonlinear control Obstacle avoidance Predictive control
Online-Zugang:	Volltext
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