Waypoint-Based Guidance with Obstacle Avoidance for Multirotor Aerial Vehicles Using a Model Predictive Controller
Davi Antonio dos Santos1; Igor Afonso Acampora Prado1; José Agnelo Bezerra1
1 Instituto Tecnológico de Aeronáutica
doi:10.20906/CPS/COB-2015-0299
Resumo
This paper deals with the problem of waypoint-based guidance of multirotor aerial vehicles with avoidance of a single polytopic obstacle. In order to solve the problem, a receding horizon model predictive controller (MPC) is adopted. The command inputs to the controller consist of a sequence of tridimensional waypoints as well as a reference speed. The future reference output trajectory embedded in the MPC is chosen as a straight line, traveled with the reference speed, towards the next waypoint of the sequence. The current waypoint is detected as soon as the vehicle enters inside a specified Euclidian ball centered at it. At the same moment, the next waypoint of the sequence is switched on. This rule is repeated until reaching the final waypoint, at which the vehicle is commanded to stay. In order to avoid a single polytopic obstacle, a very simple method based on both the previous and the next waypoint is proposed for obtaining a convex optimization space that does not contain the obstacle. The proposed method is evaluated by simulations, showing that it is effective to guide a multirotor vehicle throughout the waypoints, with approximately the reference speed, even in the presence of an obstacle and force disturbances.
Palavras-chave: Model Predictive Control; Waypoint Navigation; Multirotor Aerial Vehicle; Obstacle Avoidance