Multi-Stage NMPC for a MAV based Collision Free Navigation Under Varying Communication Delays

被引:0
|
作者
Papadimitriou, Andreas [1 ]
Jafari, Hedyeh [1 ]
Mansouri, Sina Sharif [2 ]
Nikolakopoulos, George [1 ]
机构
[1] Lulea Univ Technol, Dept Comp Elect & Space Engn, Robot & AI Team, SE-97187 Lulea, Sweden
[2] Scan Grp, Autonomous Driving Lab, SE-15139 Sodertalje, Sweden
基金
欧盟地平线“2020”;
关键词
Multi-stage NMPC; MAV; Network delays; Navigation; HORIZON;
D O I
10.1007/s10846-023-01818-1
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
Time delays in communication networks are one of the main concerns in deploying robots with computation boards on the edge. This article proposes a multi-stage Nonlinear Model Predictive Control (NMPC) that is capable of handling varying network-induced time delays for establishing a control framework being able to guarantee collision-free Micro Aerial Vehicles (MAVs) navigation. This study introduces a novel approach that considers different sampling times by a tree of discretization scenarios contrary to the existing typical multi-stage NMPC where system uncertainties are modeled by a tree of scenarios. Additionally, the proposed method considers adaptive weights for the multi-stage NMPC scenarios based on the probability of time delays in the communication link. As a result of the multi-stage NMPC, the obtained optimal control action is valid for multiple sampling times. Finally, the overall effectiveness of the proposed novel control framework is demonstrated in various tests and different simulation environments.
引用
收藏
页数:13
相关论文
共 50 条
  • [1] Multi-Stage NMPC for a MAV based Collision Free Navigation Under Varying Communication Delays
    Andreas Papadimitriou
    Hedyeh Jafari
    Sina Sharif Mansouri
    George Nikolakopoulos
    Journal of Intelligent & Robotic Systems, 2023, 107
  • [2] A Synergistic Approach to Robust Output Feedback Control: Tube-based Multi-stage NMPC
    Subramanian, Sankaranarayanan
    Lucia, Sergio
    Engell, Sebastian
    IFAC PAPERSONLINE, 2018, 51 (18): : 500 - 505
  • [3] Time-Optimal Multi-Stage NMPC for In-Cycle Control of Free-Piston Linear Generators
    Keller, Martin
    Abel, Dirk
    Albin, Thivaharan
    2021 AMERICAN CONTROL CONFERENCE (ACC), 2021, : 4783 - 4790
  • [4] Collision Free Path Planning based on Local 2D Point-Clouds for MAV Navigation
    Lindqvist, Bjorn
    Mansouri, Sina Sharif
    Kanellakis, Christoforos
    Nikolakopoulos, George
    2020 28TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2020, : 538 - 543
  • [5] Robust Multi-stage NMPC under Structural Plant-model Mismatch Without Full-State Measurements
    Thangavel, Sakthi
    Subramanian, Sankaranarayan
    Paulen, Radoslav
    Engell, Sebastian
    2019 18TH EUROPEAN CONTROL CONFERENCE (ECC), 2019, : 781 - 786
  • [6] Multi-robot collision-free navigation based on reciprocal orientation
    Rashid, Abdulmuttalib T.
    Ali, Abduladhem A.
    Frasca, Mattia
    Fortuna, Luigi
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2012, 60 (10) : 1221 - 1230
  • [7] Free Electron Laser Based on a Multi-Stage System of RF Wigglers
    Kuzikov, S. V.
    Savilov, A. V.
    2018 43RD INTERNATIONAL CONFERENCE ON INFRARED, MILLIMETER, AND TERAHERTZ WAVES (IRMMW-THZ), 2018,
  • [8] Free Electron Lasers Based on Multi-Stage Tapered RF Wigglers
    Kuzikov, Sergey
    Antipov, Sergey
    Vikharev, Alexander
    Savilov, Andrey
    Gomez, Edgar
    2018 IEEE ADVANCED ACCELERATOR CONCEPTS WORKSHOP (AAC), 2018,
  • [9] Multiple Navigation Sensor Fault Diagnose Research Based on Multi-stage Attention Mechanism
    Wang Y.-Z.
    Zhao W.
    Xu H.-Y.
    Liu J.-Y.
    Wang, Ya-Zhao (wangyazhao001@163.com), 1600, Science Press (47): : 2784 - 2790
  • [10] Reliability analysis of multi-stage degradation with stage-varying noises based on the nonlinear Wiener process
    Zheng, Huiling
    Yang, Jun
    Zhao, Yu
    APPLIED MATHEMATICAL MODELLING, 2024, 125 : 445 - 467