Nonlinear Set-based Model Predictive Control for Exploration: Application to Environmental Missions

A. Anderson, A. Anderson, J. Martin, N. Bouraqadi, L. Etienne, K. Langueh, L. Rajaoarisoa, G. Lozenguez, L. Fabresse, J. Maestre, E. Duviella

2022

Abstract

Acquiring vast and reliable data of physicochemical parameters is critical to environment monitoring. In the context of water quality analysis, data collection solutions have to overcome challenges related to the scale of environments to be explored. Sites to monitor can be large or remote. These challenges can be approached by the use of Unmanned Vehicles (UVs). Robots provide both flexibility on intervention plans and technological methods for real-time data acquisition. Being autonomous, UVs can explore areas difficult to access or far from the shore. This paper presents a nonlinear Model Predictive Control (MPC) for UV-based exploration. The strategy aims to improve the data collection of physicochemical parameters with the use of an Unmanned Surface Vehicle (USV) targeting water quality analysis. We have performed simulations based on real field experiments with a SPYBOAT® on the Heron Lake in Villeneuve d’Ascq, France. Numerical results suggest that the proposed strategy outperforms the schedule of mission planning and exploration for large areas.

Paper Citation

in Harvard Style

Anderson A., Martin J., Bouraqadi N., Etienne L., Langueh K., Rajaoarisoa L., Lozenguez G., Fabresse L., Maestre J. and Duviella E. (2022). Nonlinear Set-based Model Predictive Control for Exploration: Application to Environmental Missions. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 230-237. DOI: 10.5220/0011307300003271

in Bibtex Style

@conference{icinco22,
author={A. Anderson and J. Martin and N. Bouraqadi and L. Etienne and K. Langueh and L. Rajaoarisoa and G. Lozenguez and L. Fabresse and J. Maestre and E. Duviella},
title={Nonlinear Set-based Model Predictive Control for Exploration: Application to Environmental Missions},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={230-237},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011307300003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Nonlinear Set-based Model Predictive Control for Exploration: Application to Environmental Missions
SN - 978-989-758-585-2
AU - Anderson A.
AU - Martin J.
AU - Bouraqadi N.
AU - Etienne L.
AU - Langueh K.
AU - Rajaoarisoa L.
AU - Lozenguez G.
AU - Fabresse L.
AU - Maestre J.
AU - Duviella E.
PY - 2022
SP - 230
EP - 237
DO - 10.5220/0011307300003271