The challenges in generating minimum time trajectory and control for generic quadrocopter flying through sophisticated and unknown environment are explored in this paper. The proposed method uses convex programming technique to optimize polynomial splines, which are numerically stable for high-order including large number of segments and easily formulated for efficient computation. Moreover, exploiting the differential flatness of system, these polynomial trajectories encode the dynamics and constraints of the vehicle and decouple them from trajectory planning. The framework is fast enough to be performed in real time and results in solution which is close to time optimal. As control inputs are computed from the generated trajectory in each update, they are applicable to achieve closed-loop control similar to model predictive controller.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Autonomous navigation of generic Quadrocopter with minimum time trajectory planning and control


    Contributors:


    Publication date :

    2014-12-01


    Size :

    845149 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Fascination Quadrocopter

    Büchi, Roland | TIBKAT | 2011


    Optimization-based iterative learning for precise quadrocopter trajectory tracking

    Schoellig, A. P. | British Library Online Contents | 2012


    Quadrocopter propeller specifications

    Kateryna Balalaieva / Anton Balalaiev / Grygoriy Golembiyevskyy et al. | DOAJ | 2023

    Free access

    Micro triphibian quadrocopter

    WEI ZHEN / WANG ZUWANG / LIU WEI et al. | European Patent Office | 2015

    Free access

    Quadrocopter Control Design and Flight Operation

    Karwoski, Katherine | NTRS | 2011