Motion Planning for HyTAQs: A Topology-guided Unified NMPC Approach
Tong Wu,Yimin Zhu,Lixian Zhang,Jianan Yang,Yihang Ding,Tong Wu,Yimin Zhu,Lixian Zhang,Jianan Yang,Yihang Ding
In this study, a topology-guided unified nonlinear model predictive control (NMPC) approach is proposed for autonomous navigation of a class of Hybrid Terrestrial and Aerial Quadrotors (HyTAQs) in unknown environments. The approach can fully exploit the hybrid terrestrial-aerial locomotion of the vehicle and as such ensure a high navigation efficiency. A unified terrestrial-aerial NMPC is first fo...
