Adaptive open-loop aerobatic maneuvers for quadrocopters
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Author / Producer
Date
2011-01
Publication Type
Conference Paper
ETH Bibliography
yes
Citations
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Abstract
We describe a process for enabling quadrocopters to perform and improve upon aerobatic maneuvers. We describe such maneuvers as a set of desired keyframes and a parametrized input trajectory. The full state trajectory of the vehicle is left unspecified – only predefined partial-state keyframes are used to measure errors and to refine the primitive. A first-principles model is used to find nominal trajectory parameter values and a first-order correction matrix. We apply this method to extending previous work on vertical-plane 2D adaptive flips to a fully 3D adaptive maneuver. We also show how this method can be applied to finding trajectories for flips with matching non-zero initial and final velocities. Preliminary results are presented from simulation and from quadrocopters in the ETH Flying Machine Arena.
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Publication status
published
Editor
Book title
Proceedings of the 18th World Congress
Journal / series
Volume
44 (1)
Pages / Article No.
2600 - 2606
Publisher
Elsevier
Event
18th IFAC World Congress (IFAC 2011)
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Flying robots; Autonomous robotic systems; Identification and control methods
Organisational unit
03758 - D'Andrea, Raffaello / D'Andrea, Raffaello