Micro aerial vehicles, such as multirotors, are developed for applications like autonomous monitoring, inspection, and surveillance. Most of the current application scenarios assume a stationary environment and thus, trajectory generation rehes on static targets. In this paper, we address time-optimal trajectory generation in dynamic environments, e.g., for landing on a moving platform. We extend our existing trajectory generation method by the ability to synchronize several axes of motion, following a master/slave approach for individual axes. We further explicitly treat moving targets, like moving landing platforms by planning in a target-centric frame. Our evaluation demonstrates the performance of the method under disturbances. These results have application in dynamic multicopter flight, and also allow for fast and precise multicopter motion under challenging conditions.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Fast full state trajectory generation for multirotors


    Beteiligte:
    Beul, Marius (Autor:in) / Behnke, Sven (Autor:in)


    Erscheinungsdatum :

    2017-06-01


    Format / Umfang :

    4873363 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Coordinated Turn Trajectory Generation and Tracking Control for Multirotors Operating in Urban Environment

    Stepanyan, Vahram / Krishnakumar, Kalmanje S. / Ippolito, Corey A. | AIAA | 2019


    Coordinated Turn Trajectory Generation and Tracking Control for Multirotors Operating in Urban Environment

    Stepanyan, Vahram / Krishnakumar, Kalmanje S. / Ippolito, Corey A. | TIBKAT | 2019


    Fast Exploration Using Multirotors: Analysis, Planning, and Experimentation

    Goel, Kshitij / Corah, Micah / Boirum, Curtis et al. | TIBKAT | 2021


    Scaling Effects on Controllers for Multirotors

    Thai, Lam Ngoc / Nahon, Meyer / Charland-Arcand, Guillaume | IEEE | 2020


    MINIMUM ENERGY WIND DEPENDENT OPTIMISED PATH GENERATION FOR MULTIROTORS

    McConville, Alexander / Greatwood, Colin / Hine, Duncan et al. | TIBKAT | 2021