Real-time model predictive control for keeping a quadrotor visible on the camera field-of-view of a ground robot
Real-time model predictive control for keeping a quadrotor visible on the camera field-of-view of a ground robot
复制标题
实时模型预测控制，使四旋翼飞行器在地面机器人的相机视野中保持可见
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Dimitra Panagou
中科院分区：
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作者：
Wei Ding;M. Ganesh;Robert N. Severinghaus;Jason J. Corso;Dimitra Panagou
本文考虑了空中/地面机器人系统的协同控制设计，并解决了在存在外部干扰的情况下，在地面机器人的摄像机视场内保持四旋翼飞行器的可见性的问题。四旋翼需要跟踪的地面机器人与单目摄像机，因此，它的运动应该有利于地面视觉为基础的跟踪过程中保持在有效的摄像机感测区域。我们设计了一个模型预测控制器（MPC）的策略，其中的摄像机的可见性约束和四旋翼的控制输入约束通过障碍函数编码到成本函数，我们采用了一个快速MPC求解器，能够解决真实的时间的优化问题。我们还提出了一种方法，以提高算法的鲁棒性，适当地定义一个重新启动方法的MPC求解器。通过仿真和真实的实验结果证明了该算法的适用性。
This paper considers a cooperative control design for an aerial/ground robot system, and addresses the problem of maintaining visibility of a quadrotor within the camera field-of-view of a ground robot in the presence of external disturbances. The quadrotor needs to be tracked by the ground robot with a monocular camera, and hence its motion should facilitate the ground vision-based tracking process by remaining in the effective camera sensing area. We design a model predictive controller (MPC) strategy where the visibility constraints of the camera and the control input constraints of the quadrotor are encoded into the cost function via barrier functions, and we adopt a fast MPC solver that is able to solve the optimization problem in real time. We also propose a method to enhance the robustness of the algorithm by suitably defining a restart method for the MPC solver. The applicability of the proposed algorithm is demonstrated through simulations and experimental results on real setups.