NMPC based path following for a small fixed-wing unmanned aerial vehicle in a dynamic environment

Y. Wang, X. Zhu, Z. Zhou, H. Zhang, M. Xu

科研成果: 书/报告/会议事项章节会议稿件同行评审

1 引用 (Scopus)

摘要

The goal of the paper is to make a fixed-wing unmanned aerial vehicle (UAV) follow a predefined path while avoiding previously unknown obstacles including pop-up threats and the moving obstacle in a dynamic environment. The predefined path is represented by a Pythagorean Hodograph (PH) curve and the nonlinear model predictive control (NMPC) algorithm is used for real-time PH path following and collision avoidance in view of pop-up threats and the moving obstacle. A new form of cost function for the NMPC is proposed, which includes a navigation cost function for the PH path following a new type of collision avoidance cost for large obstacle avoidance, and an additional function penalizing the cost function in the case of the UAV flying back after obstacle avoidance. MATLAB based simulation experiments are performed to demonstrate the effectiveness of the algorithm. It is shown that the proposed algorithm is able to successfully avoid unknown obstacles in a dynamic environment while following the predefined PH path.

源语言英语
主期刊名Future Computer and Information Technology
出版商WITPress
75-82
页数8
ISBN(印刷版)9781845648510
DOI
出版状态已出版 - 2014
活动2013 International Conference on Future Computer and Information Technology, ICFCIT 2013 - Tianjin, 中国
期限: 22 8月 201323 8月 2013

出版系列

姓名WIT Transactions on Engineering Sciences
86
ISSN(印刷版)1743-3533

会议

会议2013 International Conference on Future Computer and Information Technology, ICFCIT 2013
国家/地区中国
Tianjin
时期22/08/1323/08/13

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