Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Papers
Nonlinear Receding-Horizon Differential Game of a Multicopter and a Moving Object
Kazuki HirotaYasuyuki SatohNorizumi MotookaYuta AsanoShota KameokaToshiyuki Ohtsuka
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JOURNALS OPEN ACCESS

2018 Volume 31 Issue 4 Pages 150-157

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Abstract

In this paper, we consider a target tracking problem of a multicopter. The target is assumed to move along a path that is unknown for the multicopter. We formulate this problem as a nonlinear receding-horizon differential game problem and solve the problem with a real-time algorithm for nonlinear model predictive control. Some simulation results show a satisfactory tracking performance of the proposed method.

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© 2018 The Institute of Systems, Control and Information Engineers
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