Chebyshev Pseudospectral Method-based UAV Model Predictive Control; Tracking & Collision Avoidance
Автор: ARG-SnT-UL
Загружено: 2024-10-02
Просмотров: 646
Описание: In this work, we address the problem of Unmanned Aerial Vehicle (UAV) trajectory tracking and obstacle avoidance using a novel Chebyshev pseudospectral method-based Model Predictive Control (MPC) that is real-time implementable. This approach offers smoother control compared to traditional MPC by using Lagrange interpolating polynomials and numerical integration-free state prediction using the collocation method. Our method enables precise trajectory tracking, longer prediction horizons, and faster computation. Watch as we validate the performance of this MPC through indoor experiments, demonstrating its potential for UAV applications in dynamic environments!
Повторяем попытку...
Доступные форматы для скачивания:
Скачать видео
-
Информация по загрузке:
![[RA-L] Hierarchical Active Exploration of Radiance Field with Epistemic Uncertainty Minimization](https://imager.clipsaver.ru/FkY7t2IeWhE/max.jpg)