Constrained generalized predictive control for obstacle avoidance in a quadcopter. Issue 9 (6th June 2018)
- Record Type:
- Journal Article
- Title:
- Constrained generalized predictive control for obstacle avoidance in a quadcopter. Issue 9 (6th June 2018)
- Main Title:
- Constrained generalized predictive control for obstacle avoidance in a quadcopter
- Authors:
- Mendoza-Soto, José Luis
Alvarez-Icaza, Luis
Rodríguez-Cortés, H. - Abstract:
- SUMMARY: This work proposes a strategy for position control and obstacle avoidance in a quadcopter based on constrained generalized predictive control and geometric attitude control. The approach allows real-time trajectory tracking using optimal control actions and avoids collisions with static obstacles whose position is known. An experimental validation of the proposed controller is presented.
- Is Part Of:
- Robotica. Volume 36:Issue 9(2018)
- Journal:
- Robotica
- Issue:
- Volume 36:Issue 9(2018)
- Issue Display:
- Volume 36, Issue 9 (2018)
- Year:
- 2018
- Volume:
- 36
- Issue:
- 9
- Issue Sort Value:
- 2018-0036-0009-0000
- Page Start:
- 1363
- Page End:
- 1385
- Publication Date:
- 2018-06-06
- Subjects:
- Generalized predictive control, -- Quadcopter, -- Unmanned aerial vehicle, -- Obstacle avoidance
Robots -- Periodicals
629.89205 - Journal URLs:
- http://journals.cambridge.org/action/displayJournal?jid=ROB ↗
- DOI:
- 10.1017/S026357471800036X ↗
- Languages:
- English
- ISSNs:
- 0263-5747
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library STI - ELD Digital store
- Ingest File:
- 7454.xml