Publications · Thesis · 2022
Coastline Tracking for UAVs Using Event-Triggered Image-Based Visual Servoing Nonlinear Model Predictive Control
Diploma thesis · National Technical University of Athens · 2022
Background: the coast as the camera sees it, the box of the detection driven to the middle of the frame, a new solution only at an event
Snapshot
Overview
Coastline tracking for UAVs using event-triggered image-based visual servoing under nonlinear model predictive control - the work the IROS paper grew out of.
Abstract
Although Model Predictive Control (MPC) has prominent advantages pertaining to nonlinear systems under state and actuator constraints, the high-resource consumption of the algorithm due to the constant requirement of state feedback and the high computational cost of the optimization at each time step limits the spectrum of possible applications. This drawback of MPC is amplified when combined with Image-Based Visual Servoing and quadrotors due to the high computational cost of the Visual Tracking Algorithm (VTA) and the limited battery life of the vehicles. Hence, applications such as coastline surveillance using Unmanned Aerial Vehicles (UAV) pose challenges related to the low autonomy of the vehicles and the disturbances due to the VTA noise from the vision system. In this thesis, an Event-Triggered IBVS-NMPC scheme for coastline tracking using a quadrotor is proposed which aims at updating the optimal control signal sequence as sparsely as possible. Additionally, a fast C++ code is developed and implemented in realistic simulations, in which the efficacy and performance of the control scheme is demonstrated. Abstract from the thesis.
Citation
Cite
@mastersthesis{sinani2022coastline,
author = {Sinani, Mario A.},
title = {Coastline Tracking for UAVs Using Event-Triggered Image-Based Visual Servoing Nonlinear Model Predictive Control},
school = {National Technical University of Athens},
year = {2022}
}M. A. Sinani, "Coastline Tracking for UAVs Using Event-Triggered Image-Based Visual Servoing Nonlinear Model Predictive Control," Diploma thesis, National Technical University of Athens, Athens, Greece, 2022.Sinani, M. A. (2022). Coastline Tracking for UAVs Using Event-Triggered Image-Based Visual Servoing Nonlinear Model Predictive Control [Diploma thesis, National Technical University of Athens].