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A Unified NMPC Scheme for MAVs Navigation with 3D Collision Avoidance under Position Uncertainty

Sharif Mansouri, Sina and Kanellakis, Christoforos and Lindqvist, Björn and Pourkamali-Anaraki, Farhad and Agha-Mohammadi, Ali-Akbar and Burdick, Joel and Nikolakopoulos, George (2020) A Unified NMPC Scheme for MAVs Navigation with 3D Collision Avoidance under Position Uncertainty. IEEE Robotics and Automation Letters, 5 (4). pp. 5740-5747. ISSN 2377-3766.

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This letter proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in indoor enclosed environments. The introduced framework allows us to consider the nonlinear dynamics of MAVs, nonlinear geometric constraints, while guarantees real-time performance. Our first contribution is to reveal underlying planes within a 3D point cloud, obtained from a 3D lidar scanner, by designing an efficient subspace clustering method. The second contribution is to incorporate the extracted information into the nonlinear constraints of NMPC for avoiding collisions. Our third contribution focuses on making the controller robust by considering the uncertainty of localization in NMPC using Shannon's entropy to define the weights involved in the optimization process. This strategy enables us to track position or velocity references or none in the event of losing track of position or velocity estimations. As a result, the collision avoidance constraints are defined in the local coordinates of the MAV and it remains active and guarantees collision avoidance, despite localization uncertainties, e.g., position estimation drifts. The efficacy of the suggested framework has been evaluated using various simulations in the Gazebo environment.

Item Type:Article
Related URLs:
URLURL TypeDescription
Sharif Mansouri, Sina0000-0001-7631-002X
Kanellakis, Christoforos0000-0001-8870-6718
Lindqvist, Björn0000-0003-3922-1735
Pourkamali-Anaraki, Farhad0000-0003-4078-1676
Agha-Mohammadi, Ali-Akbar0000-0001-5509-1841
Nikolakopoulos, George0000-0003-0126-1897
Additional Information:© 2020 IEEE. Manuscript received February 24, 2020; accepted June 27, 2020. Date of publication July 20, 2020; date of current version July 29, 2020. This letter was recommended for publication by Associate Editor A. Faust and Editor N. Amato upon evaluation of the reviewers’ comments. This work was supported by the European Unions Horizon 2020 Research and Innovation Programme under the under Grant 730302 SIMS.
Funding AgencyGrant Number
European Research Council (ERC)730302
Subject Keywords:Aerial systems: applications, collision avoidance, autonomous vehicle navigation, segmentation and categorization, optimization and optimal control
Issue or Number:4
Record Number:CaltechAUTHORS:20200724-100654061
Persistent URL:
Official Citation:S. S. Mansouri et al., "A Unified NMPC Scheme for MAVs Navigation With 3D Collision Avoidance Under Position Uncertainty," in IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 5740-5747, Oct. 2020, doi: 10.1109/LRA.2020.3010485
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:104561
Deposited By: George Porter
Deposited On:24 Jul 2020 20:17
Last Modified:30 Jul 2020 18:44

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