This paper presents a method to generate and follow a smallest weighted path in 3D by quadcopter. A smallest weighted path is obtained using Dijkstra's algorithm based on terrain information. To follow the generated path we use a Model predictive control that takes constraints on jerks, position and angular acceleration on the quadcopter. Simulation results are presented to validate our approach.
3D trajectory tracking for a quadcopter using MPC on a 3D terrain
01.06.2015
375038 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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