ICRA 2011 Paper Abstract

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Paper WeA101.5

Mellinger, Daniel (University of Pennsylvania), Kumar, Vijay (University of Pennsylvania)

Minimum Snap Trajectory Generation and Control for Quadrotors

Scheduled for presentation during the Regular Sessions "Aerial Robotics III" (WeA101), Wednesday, May 11, 2011, 09:20−09:35, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords Aerial Robotics, Motion and Path Planning

Abstract

We address the controller design and the trajectory generation for a quadrotor maneuvering in three dimensions in a tightly constrained setting typical of indoor environments. In such settings, it is necessary to allow for significant excursions of the attitude from the hover state and small angle approximations cannot be justified for the roll and pitch. We develop an algorithm that enables the real-time generation of optimal trajectories through a sequence of 3-D positions and yaw angles, while ensuring safe passage through specified corridors and satisfying constraints on velocities, accelerations and inputs. A nonlinear controller ensures the faithful tracking of these trajectories. Experimental results illustrate the application of the method to fast motion (5-10 body lengths/second) in three-dimensional slalom courses.

 

 

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