06.2 - Flight Dynamics and Control (UAV related)
MEDIAL AXIS TRANSFORMATION-BASED CONVEX MODEL PREDICTIVE CONTROL FOR MULTIROTOR INDOOR AUTONOMOUS FLIGHT WITH FIXED ALTITUDE
H.J. Ahn¹, H.C. Bang¹; ¹KAIST, South Korea
This paper introduces an advanced strategy for Medial Axis Transformation(MAT)-based Convex MPC(CMPC) for multirotor indoor autonomous flight. The main idea of this suggested framework is the collaboration of MAT-based collision free graph(CFG) generation with the set of circles, piecewisely defined safe flight corridor(SFC), and CMPC including SFC, multirotor dynamics, and other constraints.