Constrained generalized predictive control for obstacle avoidance in a quadcopter
José Luis Mendoza-Soto, Luis A. Álvarez-Icaza, Hugo Rodríguez-Cortés · Robotica · 2018
SUMMARY This work proposes a strategy for position control and obstacle avoidance in a quadcopter based on constrained generalized predictive control and geometric attitude control. The approach allows real-time trajectory tracking using optimal control actions and avoids collisions with static obstacles whose position is known. An experimental validation of the proposed controller is presented.