NMPC strategy for a quadrotor UAV in a 3D unknown environment

Página do item simplificado
dc.creatorIuro Baptista Pereira Nascimento
dc.creatorAntonio Ferramosca
dc.creatorLuciano Cunha de Araújo Pimenta
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-05-06T13:56:15Z
dc.date.accessioned2025-09-08T23:16:50Z
dc.date.available2025-05-06T13:56:15Z
dc.date.issued2019
dc.identifier.doi10.1109/ICAR46387.2019.8981556
dc.identifier.urihttps://hdl.handle.net/1843/82047
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof19th International Conference on Advanced Robotics (ICAR)
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subject.otherUnmanned Aerial Vehicles , Nonlinear Model Predictive Control , Control Strategy , Numerical Results , Energy State , Model Predictive Control , Obstacle Avoidance , Sensor Information , Model Predictive Control Strategy , Static Obstacles , Optimization Problem , Cost Function , Optimal Control , Polyhedral , Nonlinear Programming , Edge Weights , Terminal Region , Path Planning , Linear Constraints , Safe Region , Optimal Control Problem , Rapidly-exploring Random Tree , Nonlinear Programming Problem , Solution Of The Optimal Control Problem , Convex Polytope , Terminal Constraint , Range Of Sensors , Model Predictive Control Framework , 2D Environment
dc.titleNMPC strategy for a quadrotor UAV in a 3D unknown environment
dc.typeArtigo de evento
local.citation.epage184
local.citation.spage179
local.description.resumoThis work presents a Nonlinear Model Predictive Control strategy for a quadrotor UAV with obstacle avoidance capability in a 3D unknown environment with static obstacles. The system aims to reach the target in minimum time while avoiding obstacles and also to take into account the energy of states and inputs. Sensor information is processed to detect the obstacles and obtain the inequality constraints of an obstacle-free zone. Numerical results are presented to attest the performance of the system.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/8981556

Arquivos

Licença do pacote

Agora exibindo 1 - 1 de 1
Imagem de Miniatura
Nome:
License.txt
Tamanho:
1.99 KB
Formato:
Plain Text
Descrição:
Baixar

Coleções

Artigo de Evento

Logo UFMG