Бібліографічний опис:
Dmytruk, Andriy. A perception-aware NMPC for collision avoidance and control of a multi-rotor UAV with visual localization constraints: Bachelor Thesis: manuscript / Andriy Dmytruk; Supervisor: Dr. Giuseppe Silano; Ukrainian Catholic University, Department of Computer Sciences. – Lviv 2021. – 46 p.: ill.
Короткий опис (реферат):
ractical platform that can be used for automatization of many real-world tasks.
Special interest at present time is shown to solutions requiring collaboration of multiple
agents, which require precise relative localization and reactive control to avoid
collisions, while performing high-level mission tasks (e.g., autonomous inspection,
human-robot interaction) whenUAVs are moving in close proximity with each other.
In this work, a perception-aware NMPC (Nonlinear Model Predictive Control)
scheme for controlling a multi-rotor UAV while avoiding dynamic obstacles and
maintaining visibility coverage of a target is set up. The proposed approach is meant
to directly produce the rotor-level (torque) inputs of the platform motors, hence it
does not require an intermediate unconstrained controller to work. It is also meant
to be generic, by covering standard coplanar quad-rotors as well as tilted-propeller
multi-rotors. A generic onboard sensor is taken into account to retrieve the 3-D pose
of the target. The model can be applied to various types of sensors equipped on
aerial vehicles, such as monocular cameras or laser scanners. Further, real actuator
limitations are modelled to simulate platforms physical constraints.
Numerical simulations in MATLAB extensively test the proposed framework
showing its validity and effectiveness.
