Model predictive cooperative localization control of multiple UAVs using potential function sensor constraints: a workflow to create sensor constraint based potential functions for the control of cooperative localization scenarios with mobile robots.

Dentler, Jan; Kannan, Somasundar; Bezzaoucha, Souad; Olivares-Mendez, Miguel Angel; Voos, Holger

Abstract

The global localization of multiple mobile robots can be achieved cost efficiently by localizing one robot globally and the others in relation to it using local sensor data. However, the drawback of this cooperative localization is the requirement of continuous sensor information. Due to a limited sensor perception space, the tracking task to continuously maintain this sensor information is challenging. To address this problem, this contribution is presenting a model predictive control (MPC) approach for such cooperative localization scenarios. In particular, the present work shows a novel workflow to describe sensor limitations with the help of potential functions. In addition, a compact motion model for multi-rotor drones is introduced to achieve MPC real-time capability. The effectiveness of the presented approach is demonstrated in a numerical simulation, an experimental indoor scenario with two quadrotors as well as multiple indoor scenarios of a quadrotor obstacle evasion maneuver.

Citation

DENTLER, J., KANNAN, S., BEZZAOUCHA, S., OLIVARES-MENDEZ, M.A. and VOOS, H. 2019. Model predictive cooperative localization control of multiple UAVs using potential function sensor constraints: a workflow to create sensor constraint based potential functions for the control of cooperative localization scenarios with mobile robots. Autonomous robots [online], 43(1), pages 153-178. Available from: https://doi.org/10.1007/s10514-018-9711-z

• Journal Article Type: Article
• Acceptance Date: Feb 2, 2018
• Online Publication Date: Mar 7, 2018
• Publication Date: Jan 31, 2019
• Deposit Date: Feb 23, 2021
• Publicly Available Date: Feb 23, 2021
• Journal: Autonomous robots
• Print ISSN: 0929-5593
• Electronic ISSN: 1573-7527
• Publisher: Springer
• Peer Reviewed: Peer Reviewed
• Volume: 43
• Issue: 1
• Pages: 153-178
• DOI: https://doi.org/10.1007/s10514-018-9711-z
• Keywords: Localization and navigation in multi-robot systems; Distributed robotic systems operating on land, sea and air; Multi-robot and multi-vehicle motion coordination; Model predictive control; Sensor constrained control; Unmanned aerial vehicle; Quadrotor
• Public URL: https://rgu-repository.worktribe.com/output/1206022