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Constrained generalized predictive control for obstacle avoidance in a quadcopter
Published online by Cambridge University Press: 06 June 2018
Summary
This work proposes a strategy for position control and obstacle avoidance in a quadcopter based on constrained generalized predictive control and geometric attitude control. The approach allows real-time trajectory tracking using optimal control actions and avoids collisions with static obstacles whose position is known. An experimental validation of the proposed controller is presented.
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