TY - GEN
T1 - Minimum-time optimal control for a quadcopter trajectory through gates with arbitrary pose
AU - Ramos, Oscar E.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/8/5
Y1 - 2021/8/5
N2 - Drone racing has become popular in recent years, both in the manned and unmanned versions. However, currently manned races show more level of acrobatic behaviors through more challenging scenarios. Autonomous quadcopters are still limited to technological proprioceptive and exteroceptive challenges, as well as algorithmic limitations. This paper proposes an approach for unmanned quadcopters to maneuver through gates with arbitrary poses solving a minimum-time optimal control problem. The results show, in a dynamic simulator, that the quad copter is able to successfully circumvent the nuances of the environment passing through the gates in minimum time satisfying the motion constraints and planning the motion ahead.
AB - Drone racing has become popular in recent years, both in the manned and unmanned versions. However, currently manned races show more level of acrobatic behaviors through more challenging scenarios. Autonomous quadcopters are still limited to technological proprioceptive and exteroceptive challenges, as well as algorithmic limitations. This paper proposes an approach for unmanned quadcopters to maneuver through gates with arbitrary poses solving a minimum-time optimal control problem. The results show, in a dynamic simulator, that the quad copter is able to successfully circumvent the nuances of the environment passing through the gates in minimum time satisfying the motion constraints and planning the motion ahead.
KW - Autonomous robot
KW - Minimum-time optimal control
KW - Quadcopter
KW - Trajectory generation
UR - http://www.scopus.com/inward/record.url?scp=85116266163&partnerID=8YFLogxK
U2 - 10.1109/INTERCON52678.2021.9532694
DO - 10.1109/INTERCON52678.2021.9532694
M3 - Conference contribution
AN - SCOPUS:85116266163
T3 - Proceedings of the 2021 IEEE 28th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021
BT - Proceedings of the 2021 IEEE 28th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021
Y2 - 5 August 2021 through 7 August 2021
ER -