CurviTrack: Curvilinear Trajectory Tracking for High-speed Chase of a USV

GUPT Aet al.: CURVITRACK: CURVILINEAR TRAJECTORY TRACKING FOR HIGH-SPEED CHASE OF A USV 3MPC Solver Fast Fourier Transform USV Motion Prediction Setpoint Generator UA V Model Reference Tracker Position/Attitude Controller Vision-based Detector Attitude rate Controller IMU UA V Actuators Onboard Sensors State Estimator Odometry & Localisation ˆ x [ b w] n = 1 ..M p r d, η d ˆ r d, ˆ η d χ d 100 Hz ω d T d 100 Hz a d τ d 1 kHz x 100 Hz initialisation only x, R, ω 100 Hz R, ω b UA V plant Pixhawk autopilot MPC Architecture USV Prediction Model UA V Prediction ModelFigure 1: The entire UA V control architecture; the MPC landing controller (red block) is integrated into the MRS system [20] (grey blocks) and supplies the desired reference (velocity r d = null x y z null T and heading rate η d). In the MRS system, the first layer containing a Reference tracker processes the desired reference and gives a full-state reference χ to the attitude controller. The feedback Position/Attitude controller produces the desired thrust and angular velocities ( T d, ω d) for the Pixhawk flight controller (Attitude rate controller). The State estimator fuses data from Odometry & localisation methods to create an estimate of the UA V translation and rotation ( x, R). The Vision-based Detector obtains the visual data from the camera and sends the pose information b of the USV to the MPC. The individual states are sent to their respective prediction models, and using these predictions, the MPC generates the desired control reference according to the cost function.