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Authors: Zdeněk Kasl ; Martin Saska and Libor Přeučil

Affiliation: Czech Technical University, Czech Republic

Keyword(s): Trajectory Planning, Model Predictive Control, Micro Aerial Vehicles, Rapidly Exploring Random Trees.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Perception and Awareness ; Robot Design, Development and Control ; Robotics and Automation ; Vehicle Control Applications

Abstract: Motion planning techniques suited for initialization of Model Predictive Control based methodology applied for complex maneuvering and stabilization of formations of Micro Aerial Vehicles are proposed in this paper. Two approaches to initialization of the formation driving method will be described, experimentally verified, evaluated and compared. The first proposed method is based on multiobjective optimization of the trajectory guess obtained by a Rapidly Exploring Random Trees technique. It represents an easy to implement and robust method suited for off-line initialization of the formation driving algorithm. The second proposed method is based on sequential processing of parts of the obtained trajectory. This method is well scalable and thus applicable in large workspaces with complex obstacles. In addition, the second method enables a significant reduction of computational time as is shown by comparison of series of simulations in different environments.

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Paper citation in several formats:
Kasl, Z.; Saska, M. and Přeučil, L. (2014). Rapidly Exploring Random Trees-based Initialization of MPC Technique Designed for Formations of MAVs. In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-040-6; ISSN 2184-2809, SciTePress, pages 436-443. DOI: 10.5220/0005058504360443

@conference{icinco14,
author={Zdeněk Kasl. and Martin Saska. and Libor P\v{r}eučil.},
title={Rapidly Exploring Random Trees-based Initialization of MPC Technique Designed for Formations of MAVs},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2014},
pages={436-443},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005058504360443},
isbn={978-989-758-040-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Rapidly Exploring Random Trees-based Initialization of MPC Technique Designed for Formations of MAVs
SN - 978-989-758-040-6
IS - 2184-2809
AU - Kasl, Z.
AU - Saska, M.
AU - Přeučil, L.
PY - 2014
SP - 436
EP - 443
DO - 10.5220/0005058504360443
PB - SciTePress