Robust Maneuver Planning With Scalable Prediction Horizons: A Move Blocking Approach

Research output: Journal contributionsJournal articlesResearchpeer-review

Standard

Robust Maneuver Planning With Scalable Prediction Horizons: A Move Blocking Approach. / Schitz, Philipp; Dauer, Johann C.; Mercorelli, Paolo.
In: IEEE Control Systems Letters, Vol. 8, 2024, p. 1907-1912.

Research output: Journal contributionsJournal articlesResearchpeer-review

Harvard

APA

Vancouver

Bibtex

@article{f6c97679444e4f3d8909a298ee488a71,
title = "Robust Maneuver Planning With Scalable Prediction Horizons: A Move Blocking Approach",
abstract = "Implementation of Model Predictive Control (MPC) on hardware with limited computational resources remains a challenge. Especially for long-distance maneuvers that require small sampling times, the necessary horizon lengths prevent its application on onboard computers. In this letter, we propose a computationally efficient tube-based shrinking horizon MPC that is scalable to long prediction horizons. Using move blocking, we ensure that a given number of decision inputs is efficiently used throughout the maneuver. Next, a method to substantially reduce the number of constraints is introduced. The approach is demonstrated with a helicopter landing on an inclined platform using a prediction horizon of 300 steps. The constraint reduction decreases the computation time by an order of magnitude with a slight increase in trajectory cost.",
keywords = "autonomous systems, computational methods, Predictive control for linear systems, robotics, Engineering",
author = "Philipp Schitz and Dauer, {Johann C.} and Paolo Mercorelli",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.",
year = "2024",
doi = "10.1109/LCSYS.2024.3414971",
language = "English",
volume = "8",
pages = "1907--1912",
journal = "IEEE Control Systems Letters",
issn = "2475-1456",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

RIS

TY - JOUR

T1 - Robust Maneuver Planning With Scalable Prediction Horizons

T2 - A Move Blocking Approach

AU - Schitz, Philipp

AU - Dauer, Johann C.

AU - Mercorelli, Paolo

N1 - Publisher Copyright: © 2017 IEEE.

PY - 2024

Y1 - 2024

N2 - Implementation of Model Predictive Control (MPC) on hardware with limited computational resources remains a challenge. Especially for long-distance maneuvers that require small sampling times, the necessary horizon lengths prevent its application on onboard computers. In this letter, we propose a computationally efficient tube-based shrinking horizon MPC that is scalable to long prediction horizons. Using move blocking, we ensure that a given number of decision inputs is efficiently used throughout the maneuver. Next, a method to substantially reduce the number of constraints is introduced. The approach is demonstrated with a helicopter landing on an inclined platform using a prediction horizon of 300 steps. The constraint reduction decreases the computation time by an order of magnitude with a slight increase in trajectory cost.

AB - Implementation of Model Predictive Control (MPC) on hardware with limited computational resources remains a challenge. Especially for long-distance maneuvers that require small sampling times, the necessary horizon lengths prevent its application on onboard computers. In this letter, we propose a computationally efficient tube-based shrinking horizon MPC that is scalable to long prediction horizons. Using move blocking, we ensure that a given number of decision inputs is efficiently used throughout the maneuver. Next, a method to substantially reduce the number of constraints is introduced. The approach is demonstrated with a helicopter landing on an inclined platform using a prediction horizon of 300 steps. The constraint reduction decreases the computation time by an order of magnitude with a slight increase in trajectory cost.

KW - autonomous systems

KW - computational methods

KW - Predictive control for linear systems

KW - robotics

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85196106007&partnerID=8YFLogxK

U2 - 10.1109/LCSYS.2024.3414971

DO - 10.1109/LCSYS.2024.3414971

M3 - Journal articles

AN - SCOPUS:85196106007

VL - 8

SP - 1907

EP - 1912

JO - IEEE Control Systems Letters

JF - IEEE Control Systems Letters

SN - 2475-1456

ER -

Recently viewed

Publications

  1. A review of FEM code accuracy for reliable extrusion process analysis
  2. The IRENA Project Navigator
  3. Classifying railway stations for strategic transport and land use planning
  4. A general result on absolute continuity of non-uniform self-similar measures on the real line
  5. B7-H1 Selectively Controls TH17 Differentiation and Central Nervous System Autoimmunity via a Novel Non-PD-1-Mediated Pathway
  6. Similar factors underlie tree abundance in forests in native and alien ranges
  7. Propagation of particles injected from interplanetary shocks
  8. Bifurcation loads of circular curved beams of glued-laminated timber with continuous lateral support
  9. MICSIM-4J - A General Microsimulation Model
  10. Analysis of observability of a differential equation system describing a synchronous electromagnetic drive
  11. Associations between the financial and industry expertise of audit committee members and Key Audit Matters within related audit reports
  12. Microstructure and hardness evolution of laser metal deposited AA5087 wall-structures
  13. The multi-criteria effectiveness evaluation of the robotic group based on 3D real-time vision system
  14. The ESBW Short Scale A Test for Assessing Teachers’ Standards-Based Educational Knowledge
  15. Intra-specific leaf trait responses to species richness at two different local scales
  16. Traits of butterfly communities change from specialist to generalist characteristics with increasing land-use intensity
  17. Abnormal extrusion texture and reversed yield asymmetry in a Mg–Y-Sm-Zn-Zr alloy
  18. Microstructure and creep properties of MEZ magnesium alloy processed by thixocasting
  19. Efficient Classification of Images with Taxonomies
  20. Anisotropic wavelet bases and thresholding
  21. Recent developments in the manufacture of complex components by influencing the material flow during extrusion
  22. Sensitivity of trace-element analysis by X-ray emission induced by 0.1-10 MeV electrons
  23. An extended kalman filter for temperature monitoring of a metal-polymer hybrid fibre based heater structure
  24. Revisiting Carbon Disclosure and Performance
  25. Aluminium-rich coring structures in Mg-Al alloys with carbon inoculation
  26. An EEG frequency tagging study on biological motion perception in children with DCD
  27. The Cox ring of the space of complete rank two collineations
  28. Microstructure, mechanical and corrosion properties of Mg-Gd-Zn alloys
  29. Peer Evaluation Can Reliably Measure Local Knowledge
  30. Helping to improve suggestion systems
  31. Study on Mg–Si–Sr ternary alloys for biomedical applications
  32. Robust Current Decoupling in a Permanent Magnet Motor Combining a Geometric Method and SMC