Paper published in a book (Scientific congresses, symposiums and conference proceedings)
A real-time model predictive position control with collision avoidance for commercial low-cost quadrotors
Dentler, Jan Eric; Kannan, Somasundar; Olivares Mendez, Miguel Angel et al.
2016In IEEE Multi-Conference on Systems and Control (MSC 2016), Buenos Aires, Argentina, 2016
Peer reviewed
 

Files


Full Text
DENTLER_jan_MSC16_corrected.pdf
Publisher postprint (1.67 MB)
Download
Annexes
20160407_ca_static.mp4
(8.11 MB)
Video of quadrotor collision avoidance
Download
20160407_square.mp4
(6.54 MB)
Video of quadrotor stabilization
Download

All documents in ORBilu are protected by a user license.

Send to



Details



Keywords :
Mobile robots; Predictive control; Real-time systems
Abstract :
[en] Unmanned aerial vehicles (UAVs) are the future technology for autonomous fast transportation of individual goods. They have the advantage of being small, fast and not to be limited to the local infrastructure. This is not only interesting for delivery of private consumption goods up to the doorstep, but also particularly for smart factories. One drawback of autonomous drone technology is the high development costs, that limit research and development to a small audience. This work is introducing a position control with collision avoidance as a first step to make low-cost drones more accessible to the execution of autonomous tasks. The paper introduces a semilinear state-space model for a commercial quadrotor and its adaptation to the commercially available AR.Drone 2 system. The position control introduced in this paper is a model predictive control (MPC) based on a condensed multiple-shooting continuation generalized minimal residual method (CMSCGMRES). The collision avoidance is implemented in the MPC based on a sigmoid function. The real-time applicability of the proposed methods is demonstrated in two experiments with a real AR.Drone quadrotor, adressing position tracking and collision avoidance. The experiments show the computational efficiency of the proposed control design with a measured maximum computation time of less than 2ms.
Research center :
SnT
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Aerospace & aeronautics engineering
Computer science
Author, co-author :
Dentler, Jan Eric ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Kannan, Somasundar ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Olivares Mendez, Miguel Angel ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Voos, Holger  ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
External co-authors :
no
Language :
English
Title :
A real-time model predictive position control with collision avoidance for commercial low-cost quadrotors
Publication date :
20 September 2016
Event name :
2016 IEEE Multi-Conference on Systems and Control (MSC 2016)
Event organizer :
IEEE
Event place :
Buenos Aires, Argentina
Event date :
19-09-2016 to 22-09-2016
Audience :
International
Main work title :
IEEE Multi-Conference on Systems and Control (MSC 2016), Buenos Aires, Argentina, 2016
Pages :
519-525
Peer reviewed :
Peer reviewed
Focus Area :
Security, Reliability and Trust
FnR Project :
FNR9312118 - Controller Design For Cooperative Flying Manipulation Using Small Quadrotor Uavs, 2014 (15/11/2014-14/11/2018) - Jan Eric Dentler
Name of the research project :
FNR FLYMAN
Funders :
FNR - Fonds National de la Recherche [LU]
Available on ORBilu :
since 18 October 2016

Statistics


Number of views
314 (45 by Unilu)
Number of downloads
1675 (39 by Unilu)

Scopus citations®
 
34
Scopus citations®
without self-citations
25
WoS citations
 
6

Bibliography


Similar publications



Contact ORBilu