Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs
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arXiv
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| Auteurs principaux: | , , , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866908620394856448 |
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| author | Leprich, David Rosenfelder, Mario Herrmann-Wicklmayr, Markus Flaßkamp, Kathrin Eberhard, Peter Ebel, Henrik |
| author_facet | Leprich, David Rosenfelder, Mario Herrmann-Wicklmayr, Markus Flaßkamp, Kathrin Eberhard, Peter Ebel, Henrik |
| contents | This article proposes a modular optimal control framework for local three-dimensional ellipsoidal obstacle avoidance, exemplarily applied to model predictive path-following control. Static as well as moving obstacles are considered. Central to the approach is a computationally efficient and continuously differentiable condition for detecting collisions with ellipsoidal obstacles. A novel two-stage optimization approach mitigates numerical issues arising from the structure of the resulting optimal control problem. The effectiveness of the approach is demonstrated through simulations and real-world experiments with the Crazyflie quadrotor. This represents the first hardware demonstration of an MPC controller of this kind for UAVs in a three-dimensional task. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_26531 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs Leprich, David Rosenfelder, Mario Herrmann-Wicklmayr, Markus Flaßkamp, Kathrin Eberhard, Peter Ebel, Henrik Systems and Control Robotics 93-XX This article proposes a modular optimal control framework for local three-dimensional ellipsoidal obstacle avoidance, exemplarily applied to model predictive path-following control. Static as well as moving obstacles are considered. Central to the approach is a computationally efficient and continuously differentiable condition for detecting collisions with ellipsoidal obstacles. A novel two-stage optimization approach mitigates numerical issues arising from the structure of the resulting optimal control problem. The effectiveness of the approach is demonstrated through simulations and real-world experiments with the Crazyflie quadrotor. This represents the first hardware demonstration of an MPC controller of this kind for UAVs in a three-dimensional task. |
| title | Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs |
| topic | Systems and Control Robotics 93-XX |
| url | https://arxiv.org/abs/2510.26531 |