Abstract
Time delays in communication networks are one of the main concerns in deploying robots with computation boards on the edge. This article proposes a multi-stage Nonlinear Model Predictive Control (NMPC) that is capable of handling varying network-induced time delays for establishing a control framework being able to guarantee collision-free Micro Aerial Vehicles (MAVs) navigation. This study introduces a novel approach that considers different sampling times by a tree of discretization scenarios contrary to the existing typical multi-stage NMPC where system uncertainties are modeled by a tree of scenarios. Additionally, the proposed method considers adaptive weights for the multi-stage NMPC scenarios based on the probability of time delays in the communication link. As a result of the multi-stage NMPC, the obtained optimal control action is valid for multiple sampling times. Finally, the overall effectiveness of the proposed novel control framework is demonstrated in various tests and different simulation environments.
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Open access funding provided by Lulea University of Technology. This work has been partially funded by the European Union Horizon 2020 Research and Innovation Programme under the Grant Agreement No. 869379 illuMINEation.
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Andreas Papadimitriou: Conceptualization, Methodology, Software, Validation, Formal analysis, Investigation, Writing - Original Draft, Visualization. Hedyeh Jafari: Conceptualization, Methodology, Validation, Resources, Writing - Original Draft. Sina Sharif Mansouri: Conceptualization, Methodology, Software, Validation, Resources, Writing - Original Draft, Visualization, Supervision, Project administration. George Nikolakopoulos: Funding acquisition, Supervision
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Andreas Papadimitriou and Hedyeh Jafari contributed equally to this work.
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Papadimitriou, A., Jafari, H., Mansouri, S.S. et al. Multi-Stage NMPC for a MAV based Collision Free Navigation Under Varying Communication Delays. J Intell Robot Syst 107, 33 (2023). https://doi.org/10.1007/s10846-023-01818-1
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DOI: https://doi.org/10.1007/s10846-023-01818-1