Image-Based Aerial Grasping of a Moving Target Using Model Predictive Control

The focus of this study is on utilizing vision-based aerial grasping to capture a moving target, which is achieved through the implementation of a model predictive control (MPC) approach that incorporates nonlinear prediction and linearization along the trajectory (MPC-NPLT). To enable aerial grasping of a moving target, an MPC-NPLT algorithm is developed that utilizes visual data extracted from the image. The time derivative of image features is extracted, and a quadratic cost function is formulated based on the linearized equations along the predictive horizon. Simulation results for movement in the x and y directions demonstrate that the proposed approach can provide satisfactory performance.