Convexification and real-time on-board optimization for agile quad-rotor maneuvering and obstacle avoidance

Szmuk, Michael; Pascucci, Carlo Alberto; Dueri, Daniel; Açıkmeşe, Behçet

doi:10.1109/iros.2017.8206363

Cited by 38 publications

(28 citation statements)

References 22 publications

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“…This problem consists of (i) an objective function made up of the original objective J(z) and the two augmented cost terms discussed in §IV-A; (ii) the boundary conditions denoted by x d,i , u d,i , x d,f , and u d,f ; (iii) the discrete-time dynamics with virtual control; (iv) the non-convex state constraints linearized about the previous solution; and (v) the control set U detailed in §III-B. As stated previously, we assume that non-convexity in U is handled by lossless convexification [14].…”

Section: B Subproblemmentioning

confidence: 99%

Real-Time Quad-Rotor Path Planning Using Convex Optimization and Compound State-Triggered Constraints

Szmuk

Malyuta

Reynolds

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The contribution of this paper is the application of compound state-triggered constraints (STCs) to real-time quadrotor path planning. Originally developed for rocket landing applications, STCs are made up of a trigger condition and a constraint condition that are arranged such that satisfaction of the former implies satisfaction of the latter. Compound STCs go a step further by allowing multiple trigger and constraint conditions to be combined via Boolean "and" or "or" operations. The logical implications embodied by STCs can be formulated using continuous variables, and thus enable the incorporation of discrete decision making into a continuous optimization framework. In this paper, compound STCs are used to solve quad-rotor path planning problems that would typically require the use of computationally expensive mixedinteger programming techniques. Two scenarios are considered:(1) a quad-rotor flying through a hoop, and (2) a pair of quadrotors carrying a beam-like payload through an obstacle course. Successive convexification is used to solve the resulting nonconvex optimization problem. Monte-Carlo simulation results show that our approach can reliably generate trajectories at rates upwards of 3 and 1.5 Hz for the first and second scenarios, respectively.

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Section: B Subproblemmentioning

confidence: 99%

Real-Time Quad-Rotor Path Planning Using Convex Optimization and Compound State-Triggered Constraints

Szmuk

Malyuta

Reynolds

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…Kumar [22] and Szmuk et al [35]. Motion capture systems provide millimeter-level localization of targets at high rates.…”

Section: Vision-based Indoor Navigationmentioning

confidence: 99%

Navigation of Indoor Spaces Using Multiple Quadrotors

Katona

Morgansen

2019

AIAA Scitech 2019 Forum

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The operation of uninhabited aerial vehicles (UAVs) indoors faces many challenges, notably from the ineffectiveness of the sensors typically used on these vehicles for flight in outdoor environments, such as Global Navigation Satellite Systems (GNSS) and magnetometers. However, there are many situations when the ability to use a UAV indoors is desirable, such as for surveying underground infrastructure, performing inventory of a warehouse or assisting in search-and-rescue operations. This thesis addresses three challenges facing the autonomous indoor flight of UAVs. First, it proposes a platform for developing a low-cost UAV system using commercial-off-the-shelf hardware and open-source software. The system consists of one or more quadrotors, an ultrasonic beacon system and a ground control station. Next, it surveys methods for measuring the yaw of a vehicle in an indoor environment, including the magnetometer and computer vision techniques The thesis then proposes a method for using an ultrasonic beacon system to measure yaw. The advantages and disadvantages of each method are noted. Finally, the thesis introduces a technique for coordinating a network of multiple vehicles to provide localization to a vehicle performing a mission by moving the reference beacons of the ultrasonic beacon system throughout the space. The algorithm for choosing waypoints for each vehicle is described, and simulations for the algorithms are presented for multiple cases.

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“…Using standard quaternion composition rules, we can express the vector portion by the Euler axisn and angle θ, so that δq v =n sin θ 2 , Figure 5. Angular velocity time history for a detumble maneuver using the B-dot controller (24).…”

Section: Detumblementioning

confidence: 99%

“…To increase the robustness of the system, and due to very limited computational resources, the GNC system is split across four MCUs. The first contains the B-dot algorithm as a standalone entity that can process raw sensor readings and compute controls according to equation (24). The B-dot algorithm is given a dedicated magnetometer, but is also able to pull readings from the CAN bus should that sensor fail.…”

Section: Huskysat-1mentioning

confidence: 99%

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Correction: Development of a Generic Guidance Navigation & Control System for Small Satellites: Application to HuskySat-1

Reynolds

Kaycee

Barzgaran

et al. 2018

2018 AIAA SPACE and Astronautics Forum and Exposition

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This paper presents the development of a generic Guidance, Navigation & Control (GNC) system for small satellites at the University of Washington that serves as a testbed for algorithm development and supports small satellite mission design. Our ultimate aim is to advance the capabilities of autonomous satellite operations by demonstrating advanced on-board control and estimation techniques, though the work is equally applicable to earth-imaging, pointing and technology demonstration missions. The work discusses the development of flight software and requisite sensor, actuator and environmental models needed to validate flight software functionality. The first mission application is the HuskySat-1 mission, undertaken by a student-led group at the University of Washington. Primarily a technology demonstration, HuskySat-1 is a 3U CubeSat equipped with a pulsed plasma thruster and a high-frequency communication antenna, equipped with a 3-axis active attitude control subsystem. We demonstrate through software and hardware-based testing that our system supports both scientific payloads. We outline our approach to algorithm development, verification and validation, and briefly hardware-in-the-loop testing.

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Convexification and real-time on-board optimization for agile quad-rotor maneuvering and obstacle avoidance

Cited by 38 publications

References 22 publications

Real-Time Quad-Rotor Path Planning Using Convex Optimization and Compound State-Triggered Constraints

Real-Time Quad-Rotor Path Planning Using Convex Optimization and Compound State-Triggered Constraints

Navigation of Indoor Spaces Using Multiple Quadrotors

Correction: Development of a Generic Guidance Navigation & Control System for Small Satellites: Application to HuskySat-1

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