We propose a methodology for autonomous aerial navigation and obstacle avoidance of micro aerial vehicles (MAV) using nonlinear model predictive control (NMPC) and we demonstrate its effectiveness with laboratory experiments. The proposed methodology can accommodate obstacles of arbitrary, potentially non-convex, geometry. The NMPC problem is solved using PANOC: a fast numerical optimization method which is completely matrix-free, is not sensitive to ill conditioning, involves only simple algebraic operations and is suitable for embedded NMPC. A C89 implementation of PANOC solves the NMPC problem at a rate of 20Hz on board a lab-scale MAV. The MAV performs smooth maneuvers moving around an obstacle. For increased autonomy, we propose a simple method to compensate for the reduction of thrust over time, which comes from the depletion of the MAV's battery, by estimating the thrust constant.
|Title of host publication||European Control Conference 25/06/2018 → 28/06/2019 Naples, Italy|
|Number of pages||8|
|Publication status||Published - 15 Aug 2019|
|Event||European Control Conference - Hotel Royal Continental, Naples, Naples, Italy|
Duration: 25 Jun 2018 → 28 Jun 2019
|Conference||European Control Conference|
|Period||25/06/2018 → 28/06/2019|