Safety-Constrained Adaptive NMPC-APF With Dynamic Terminal and Input-Rate Weighting for Reliable UAV Obstacle Avoidance
Nonlinear Model Predictive Control (NMPC) offers high accuracy in quadrotor trajectory tracking but lacks inherent reactive capability to obstacles. Relatively, the Artificial Potential Field (APF) method can provide fast obstacle response but suffers from local minima and non-smooth repulsive force...
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| Asıl Yazarlar: | , |
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| Materyal Türü: | Artigo |
| Dil: | Inglês |
| Baskı/Yayın Bilgisi: |
IEEE
2026-01-01
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| Seri Bilgileri: | IEEE Access |
| Konular: | |
| Online Erişim: | https://ieeexplore.ieee.org/document/11570177/ |
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