Nonlinear Model Predictive Control on SE(3) for Quadrotor Trajectory Tracking and Obstacle Avoidance.
Jean C. PereiraValter J. S. LeiteGuilherme V. RaffoPublished in: ICAR (2019)
Keyphrases
- obstacle avoidance
- trajectory tracking
- nonlinear model predictive control
- mobile robot
- image based visual servoing
- visual servoing
- dynamic model
- path planning
- robot control
- motion planning
- dynamic environments
- control law
- experimental data
- control scheme
- autonomous robots
- multi robot
- control system
- physical constraints
- bi directional
- closed loop
- fuzzy logic controller
- robot manipulators
- real time
- sliding mode
- vision system
- recurrent neural networks
- neural network