Coastline Tracking for UAVs Using Event-Triggered Image-Based Visual Servoing Nonlinear Model Predictive Control

Sinani, Mario

dc.contributor.author	Sinani, Mario	el
dc.date.accessioned	2022-04-11T08:55:48Z
dc.date.available	2022-04-11T08:55:48Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/55057
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.22755
dc.rights	Αναφορά Δημιουργού-Μη Εμπορική Χρήση-Όχι Παράγωγα Έργα 3.0 Ελλάδα	*
dc.rights	Αναφορά Δημιουργού-Μη Εμπορική Χρήση-Όχι Παράγωγα Έργα 3.0 Ελλάδα	*
dc.rights.uri	http://creativecommons.org/licenses/by-nc-nd/3.0/gr/	*
dc.subject	Model Predictive Control	en
dc.subject	Image-Based Visual Servoing	en
dc.subject	UAV	el
dc.subject	Event-Triggered MPC	el
dc.subject	Nonlinear Optimization	el
dc.subject	Προβλεπτικός Έλεγχος	el
dc.subject	Έλεγχος Οπτικής Ανατροφοδότησης	el
dc.subject	Μη Επανδρωμένα Αεροσκάφη	el
dc.subject	Προβλεπτικός Έλεγχος Βασισμένος σε Διεγέρσεις απο Συμβάντα	el
dc.subject	Μη Γραμμική Βελτιστοποίηση	el
dc.title	Coastline Tracking for UAVs Using Event-Triggered Image-Based Visual Servoing Nonlinear Model Predictive Control	en
dc.contributor.department	Mechanical Design & Automatic Control Department, Control Systems Laboratory	el
heal.type	bachelorThesis
heal.secondaryTitle	Παρακολούθηση Ακτογραμμής με Χρήση Μη Eπανδρωμένου Aεροσκάφους (UAV) μέσω Μη Γραμμικού Προβλεπτικού Ελέγχου Οπτικής Ανατροφοδότησης Βασισμένου σε Διεγέρσεις απο Συμβάντα	el
heal.classification	Robotics	en
heal.classification	Control	en
heal.classification	Mechanical Engineering	en
heal.language	el
heal.language	en
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2021-10-13
heal.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, a 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 are demonstrated.	en
heal.advisorName	Κυριακόπουλος, Κωνσταντίνος	en
heal.advisorName	Kyriakopoulos, Konstantinos
heal.committeeMemberName	Papadopoulos, Evangelos	en
heal.committeeMemberName	Antoniadis, Ioannis	en
heal.academicPublisher	Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Μηχανολόγων Μηχανικών. Τομέας Μηχανολογικών Κατασκευών και Αυτομάτου Ελέγχου	el
heal.academicPublisherID	ntua
heal.numberOfPages	88 σ.	el
heal.fullTextAvailability	false