Event
Paper on ISB-NMPC Quadrotor Interception Control Released
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Li Hong and other authors released a paper on arXiv proposing a spherical bearing nonlinear model predictive control method for quadrotor interception, ISB-NMPC, which couples spherical bearing prediction with quadrotor nonlinear dynamics to jointly optimize approach-to-target motion and target visibility. The authors report that in 30 paired simulation trials, the method achieved an interception success rate of 86.7%, the highest among the controllers compared, with an average target visibility time proportion of 99.11% per trial. In outdoor flights, the interceptor captured a 30-centimeter target at approximately 150 meters, reached a long-distance flight speed of 17 meters per second, and flew at approximately 14 meters per second when tracking a maneuvering target towed by a quadrotor. The authors state that both software and hardware have been open-sourced.
Report timeline
- ISB-NMPC: Spherical-Bearing Nonlinear Model Predictive Control for Quadrotor Interception
The authors propose ISB-NMPC, which couples spherical-bearing prediction with nonlinear quadrotor dynamics to jointly optimize target-approach motion and target visibility. Across 30 paired simulation trials, the method achieved an interception success rate of 86.7%, the highest among the compared controllers, with a mean per-trial target-visible time of 99.11%. In outdoor flights, the interceptor acquired a 30 cm target at approximately 150 m, reached 17 m/s in long-range flight, and flew at approximately 14 m/s while pursuing a maneuvering target towed by a quadrotor. Both software and hardware are open source.
arXiv cs.RO ·