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Subterranean MAV Navigation based on Nonlinear MPC with Collision Avoidance Constraints
[article]
2020
arXiv
pre-print
Micro Aerial Vehicles (MAVs) navigation in subterranean environments is gaining attention in the field of aerial robotics, however there are still multiple challenges for collision free navigation in such harsh environments. This article proposes a novel baseline solution for collision free navigation with Nonlinear Model Predictive Control (NMPC). In the proposed method, the MAV is considered as a floating object, where the velocities on the x, y axes and the position on altitude are the
arXiv:2006.04227v1
fatcat:nxravzljcnbeva32wojtzwt47u