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.


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    Titel :

    3D trajectory tracking for a quadcopter using MPC on a 3D terrain


    Beteiligte:
    Singhal, Rahul (Autor:in) / Sujit, P. B. (Autor:in)


    Erscheinungsdatum :

    01.06.2015


    Format / Umfang :

    375038 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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