Implementation of Fast MPC with a Quadrotor for Obstacle Avoidance
Colin M. Greatwood, Arthur Richards · AIAA Guidance, Navigation, and Control (GNC) Conference · 2013
This paper proposes a realtime guidance technique for an autonomous vehicle moving through obstacles. The method combines a geometric convexification technique with Model Predictive Control (MPC). Several recent advances in MPC are exploited in order to achieve efficient computation. Experimental results are given using a quadrotor in an instrumented flying arena to show the feasibility of real-time control.