Waypoint Tracking via Tube-based Robust Model Predictive Control for Crop Monitoring with Fixed-Wing UAVs
| Autor: | Nicoletta Bloise, Gianluca Ristorto, Martina Mammarella, Elisa Capello, Fabrizio Dabbene, Giorgio Guglieri |
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| Rok vydání: | 2019 |
| Předmět: |
Scheme (programming language)
Precision Farming Control algorithm Computer science Unmanned Aerial Vehicle Tracking (particle physics) Model predictive control Waypoint Robust Model Predictive Control Fixed wing Control theory Trajectory Crop Monitoring Precision agriculture computer Crop Monitoring Precision Farming Unmanned Aerial Vehicle Robust Model Predictive Control computer.programming_language |
| Zdroj: | Politecnico di Torino-IRIS IEEE International Workshop on Metrology for Agriculture and Forestry, pp. 19–24, November 4-6, 2020 info:cnr-pdr/source/autori:Mammarella, Martina; Ristorto, Gianluca; Capello, Elisa; Bloise, Nicoletta; Guglieri, Giorgio; Dabbene, Fabrizio/congresso_nome:IEEE International Workshop on Metrology for Agriculture and Forestry/congresso_luogo:/congresso_data:November 4-6, 2020/anno:2019/pagina_da:19/pagina_a:24/intervallo_pagine:19–24 |
| DOI: | 10.1109/metroagrifor.2019.8909260 |
| Popis: | Crop monitoring and farm activities with innovative systems, as Unmanned Aerial Vehicles, is an undergoing research known as fourth agricultural revolution. In our paper, two different farming scenarios are proposed, in which a trajectory tracking based on Model Predictive Control is proposed in combination with a waypoint-based guidance algorithm. This Guidance and Control algorithm is also combined with an on-board sensor to characterize the measured data. Simulations are performed to show the effectiveness of the proposed control scheme. |
| Databáze: | OpenAIRE |
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