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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    Title :

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


    Contributors:


    Publication date :

    2015-06-01


    Size :

    375038 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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