Minimum-time optimal control for a quadcopter trajectory through gates with arbitrary pose

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2021 IEEE 28th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665412216
DOIs
StatePublished - 5 Aug 2021
Event28th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021 - Virtual, Lima, Peru
Duration: 5 Aug 20217 Aug 2021

Publication series

NameProceedings of the 2021 IEEE 28th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021

Conference

Conference28th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021
Country/TerritoryPeru
CityVirtual, Lima
Period5/08/217/08/21

Keywords

  • Autonomous robot
  • Minimum-time optimal control
  • Quadcopter
  • Trajectory generation

Fingerprint

Dive into the research topics of 'Minimum-time optimal control for a quadcopter trajectory through gates with arbitrary pose'. Together they form a unique fingerprint.

Cite this