2024
DOI: 10.3390/automation5030020
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Optimizing Unmanned Air–Ground Vehicle Maneuvers Using Nonlinear Model Predictive Control and Moving Horizon Estimation

Alessandra Elisa Sindi Morando,
Alessandro Bozzi,
Simone Graffione
et al.

Abstract: In this paper, Nonlinear Model Predictive Control (NMPC) and Nonlinear Moving Horizon Estimator (NMHE) are combined to control, in a distributed way, a heterogeneous fleet composed of a steering car and a quadcopter. In particular, the ground vehicle in the role of the leader communicates its one-step future position to the drone, which keeps the formation along the desired trajectory. Inequality constraints are introduced in a switching control fashion to the leader’s NMPC formulation to avoid obstacles. In t… Show more

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