Perception-Aware Model Predictive Control for Target Tracking with UAVs

A perception-aware model predictive control strategy with the multi-rotor UAVs is proposed in this paper. The proposed control strategy considers both the perception objective and constraints, so as to achieve robust and reliable perception, ensure the visibility of image features, and complete the task of tracking the target. On this basis, we consider the distributed formation among UAVs while realistic actuation limits at the torque level are also taken into account. Furthermore, the approach considers the scenario with obstacles in the complex environment, solves the problem of collision avoidance and safe navigation is achieved. The feasibility and effectiveness of the control strategy are verified by simulation.