论文标题
基于非线性MPC的地下MAV导航，并避免碰撞限制
Subterranean MAV Navigation based on Nonlinear MPC with Collision Avoidance Constraints
论文作者
论文摘要
地下环境中的微型航空车（MAVS）导航在空中机器人技术领域引起了人们的关注，但是在这种恶劣的环境中，无碰撞导航仍然存在多个挑战。本文提出了一种新型的基线解决方案，用于与非线性模型预测控制（NMPC）的无碰撞导航。在提议的方法中，MAV被视为浮动物体，其中$ x $，$ y $轴的速度和高度的位置是NMPC沿隧道导航的参考，而NMPC则通过考虑基于来自2D Lidar的测量值的障碍物来避免碰撞。此外，提出了一种新颖的方法，用于纠正MAV朝向矿山中心的标题，而在瑞典地下矿山的多个现场试验中，对建议的框架的功效进行了评估。
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 references for the NMPC to navigate along the tunnel, while the NMPC avoids the collision by considering kinematics of the obstacles based on measurements from a 2D lidar. Moreover, a novel approach for correcting the heading of the MAV towards the center of the mine tunnel is proposed, while the efficacy of the suggested framework has been evaluated in multiple field trials in an underground mine in Sweden.
