Name
Abstract | ||
|---|---|---|
This paper presents a method for generating quadrocopter trajectories in real time, from some initial state to a final state defined by position, velocity and acceleration in a specified amount of time. The end state captures the attitude to within a rotation about the thrust axis. Trajectory generation is done by formulating the trajectory of the quadrocopter in its jerk, in discrete time, and then solving a convex optimisation problem on each decoupled axis. Convex bounds are derived to include feasibility constraints with respect to the quadrocopter's total allowable thrust and angular rates. |
Year | Venue | Keywords |
|---|---|---|
2013 | Control Conference | convex programming,helicopters,predictive control,trajectory control,angular rates,convex optimisation problem,discrete time,model predictive controller,quadrocopter state interception,total allowable thrust,trajectory generation,vehicle dynamics,cost function,trajectory,acceleration,aerodynamics |
Field | DocType | Citations |
Control theory,Mathematical optimization,Control theory,Model predictive control,Jerk,Acceleration,Discrete time and continuous time,Engineering,Convex optimization,Thrust,Trajectory | Conference | 7 |
PageRank | References | Authors |
0.58 | 0 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mueller, M.W. | 1 | 32 | 1.67 |
| Raffaello D'andrea | 2 | 1592 | 162.96 |