CoNi-MPC: Cooperative Non-inertial Frame Based Model Predictive Control

Image credit: FAST-FIRE

Abstract

This work presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical methods that tackle UAV control in the world frame, we directly control the UAV in the target coordinate frame, without making motion assumptions about the target. In detail, we formulate a non-linear model predictive controller of a UAV, referred to as the agent, within a non-inertial frame (i.e., the target frame). The system requires the relative states (pose and velocity), the angular velocity and the accelerations of the target, which can be obtained by relative localization methods and ubiquitous MEMS IMU sensors, respectively. This framework eliminates dependencies that are vital in classical solutions, such as accurate state estimation for both the agent and target, prior knowledge of the target motion model, and continuous trajectory re-planning for some complex tasks. We have performed extensive simulations to investigate the control performance with varying motion characteristics of the target. Furthermore, we conducted real robot experiments, employing either simulated relative pose estimation from motion capture systems indoors or directly from our previous relative pose estimation devices outdoors, to validate the applicability and feasibility of the proposed approach.

Publication
IEEE Robotics and Automation Letters (RAL)
Baozhe Zhang
Baozhe Zhang
Research Assistant

PhD student at CUHK-Shenzhen.

Xinwei Chen
Xinwei Chen
Researcher

My research interests focus on key challenges in motion control and planning, especially under both inertial and non-inertial reference frames.

Zhehan Li
Zhehan Li
Ph.D. student

My research interests include multi-robot perception, multi-robot collaboration, and multi-robot reinforcement learning.

Yanjun Cao
Yanjun Cao
Principal Investigator

My research interests focuse on key challenges in multi-robot systems, such as collaborative localization, perception, communication, and system organization.