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

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Resumen

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.

Idioma originalInglés
Título de la publicación alojadaProceedings of the 2021 IEEE 28th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781665412216
DOI
EstadoPublicada - 5 ago. 2021
Evento28th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021 - Virtual, Lima, Perú
Duración: 5 ago. 20217 ago. 2021

Serie de la publicación

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

Conferencia

Conferencia28th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021
País/TerritorioPerú
CiudadVirtual, Lima
Período5/08/217/08/21

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