Visualizations from Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs

The modular, optimization-based control framework incorporates explicit constraints for avoiding collisions between arbitrarily shaped ellipsoids. At the core of the approach is a computationally efficient collision detection condition, which is extended in a novel way to the three-dimensional setting.

This enables the quadrotor to follow a given geometric path while dynamically avoiding both static and moving obstacles in real time. In the case of static obstacles, a real-world experiment was conducted. In comparison, for a dynamic obstacle, a simulation-based experiment was performed.