# Predictive Control for Chasing a Ground Vehicle using a UAV

## TL;DR

This paper presents a model predictive control-based high-level planner enabling a UAV to chase a ground vehicle while respecting constraints, demonstrated through simulations and real-world experiments.

## Contribution

It introduces a novel predictive control approach that integrates online data for real-time planning in UAV ground vehicle chasing scenarios.

## Key findings

- Successful simulation results showing effective chasing behavior.
- Real-world experiments validating the approach on a quadcopter.
- The method respects state and input constraints during operation.

## Abstract

We propose a high-level planner for a multirotor to chase a ground vehicle, while simultaneously respecting various state and input constraints. Assuming a minimal kinematic model for the ground vehicle, we use data collected online to generate predictions for our planner within a model predictive control framework. Our solution is demonstrated, both via simulations and experiments on a stable quadcopter platform.