Publication Details

Surrogate Modeling of Optimal Control Based Collision Avoidance System for Multirotor Unmanned Aerial Vehicles

NOVÁK, J.; CHUDÝ, P. Surrogate Modeling of Optimal Control Based Collision Avoidance System for Multirotor Unmanned Aerial Vehicles. In AIAA/IEEE Digital Avionics Systems Conference - Proceedings. Barcelona: Institute of Electrical and Electronics Engineers, 2023. p. 1-7. ISBN: 979-8-3503-3357-2. ISSN: 2155-7195.
Czech title
Náhradní modelování systému pro vyhnutí se kolize bezpilotních systémů založeném na teorii optimálního řízení
Type
conference paper
Language
English
Authors
Novák Jiří, Ing., Ph.D. (DCGM)
Chudý Peter, doc. Ing., Ph.D., MBA (VZ AeroWorks)
URL
Keywords

collision avoidance, polynomial chaos expansion,
multi-rotor vehicle, successive convexification

Abstract

A dynamically changing operating environment, along with constraints imposed
through applicable safety requirements, pose significant challenges to autonomous
multi-rotor manned and unmanned aerial vehicle operations in urban areas.
Safety-critical onboard collision avoidance capability requires fast decision
making accounting for uncertainties arising in complex environments. Successive
convexification approach is applied to generate collision avoidance trajectories
assuming both static and moving obstacles. The uncertainties arising in estimated
state of moving obstacles are accounted for by construction of Polynomial Chaos
Expansion based surrogate model. The obtained surrogate model can be evaluated in
real-time to update the collision avoidance trajectory in case of change of
tracked obstacle's state. The designed trajectories are subsequently tracked
using a closed-loop Model Predictive Control scheme assuming a quadcopter
configuration.

Published
2023
Pages
1–7
Proceedings
AIAA/IEEE Digital Avionics Systems Conference - Proceedings
Number
10
Conference
2023 IEEE/AIAA 42nd Digital Avionics Systems Conference (DASC), Barcelona, ES
ISBN
979-8-3503-3357-2
Publisher
Institute of Electrical and Electronics Engineers
Place
Barcelona
DOI
10.1109/DASC58513.2023.10311265
EID Scopus
2-s2.0-85178665376
BibTeX 
@inproceedings{BUT185182,
  author="Jiří {Novák} and Peter {Chudý}",
  title="Surrogate Modeling of Optimal Control Based Collision Avoidance System for Multirotor Unmanned Aerial Vehicles",
  booktitle="AIAA/IEEE Digital Avionics Systems Conference - Proceedings",
  year="2023",
  number="10",
  pages="1--7",
  publisher="Institute of Electrical and Electronics Engineers",
  address="Barcelona",
  doi="10.1109/DASC58513.2023.10311265",
  isbn="979-8-3503-3357-2",
  issn="2155-7195",
  url="https://ieeexplore.ieee.org/document/10311265"
}
Back to top