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dc.contributor.author
Hehn, Markus
dc.contributor.author
D'Andrea, Raffaello
dc.date.accessioned
2021-07-28T13:24:30Z
dc.date.available
2017-06-09T16:50:50Z
dc.date.available
2018-08-31T11:50:24Z
dc.date.available
2021-07-28T13:24:30Z
dc.date.issued
2011-01
dc.identifier.isbn
978-3-902661-93-7
en_US
dc.identifier.issn
1474-6670
dc.identifier.other
10.3182/20110828-6-IT-1002.03178
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/40144
dc.description.abstract
An algorithm is presented that allows the calculation of flight trajectories for quadrocopters. Trajectory feasibility constraints regarding the vehicle dynamics and input constraints are derived. They are then used in the planning algorithm to guarantee the feasibility of generated trajectories. The translational degrees of freedom of the quadrotor are decoupled, and time-optimal trajectories are found for each degree of freedom separately. The trajectory generation is fast enough to be performed online. Control inputs are calculated from the generated trajectory, and used to achieve closed-loop control similar to model predictive control. The trajectory generation and tracking performance is demonstrated in the ETH Zurich Flying Machine Arena testbed. Experimental results show good performance, with unmodeled aerodynamic effects causing trajectory deviations when decelerating from high speeds. Development potential for the future is highlighted, focusing on improving the performance and correcting for aerodynamic effects.
en_US
dc.language.iso
en
en_US
dc.publisher
Elsevier
en_US
dc.subject
Trajectory generation
en_US
dc.subject
Flying robots
en_US
dc.subject
Autonomous vehicle navigation
en_US
dc.subject
Guidance and control
en_US
dc.subject
Mission planning and decision making
en_US
dc.subject
Motion control
en_US
dc.title
Quadrocopter trajectory generation and control
en_US
dc.type
Conference Paper
dc.date.published
2016-04-25
ethz.book.title
Proceedings of the 18th World Congress
en_US
ethz.journal.title
IFAC Proceedings Volumes
ethz.journal.volume
44
en_US
ethz.journal.issue
1
en_US
ethz.pages.start
1485
en_US
ethz.pages.end
149
en_US
ethz.event
18th IFAC World Congress (IFAC 2011)
en_US
ethz.event.location
Milano, Italy
en_US
ethz.event.date
August 28 - September 2, 2011
en_US
ethz.publication.place
Oxford
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02619 - Inst. Dynam. Syst. u. Regelungstechnik / Inst. Dynamic Systems and Control::03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02619 - Inst. Dynam. Syst. u. Regelungstechnik / Inst. Dynamic Systems and Control::03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
ethz.date.deposited
2017-06-09T16:50:56Z
ethz.source
ECIT
ethz.identifier.importid
imp59364e90870ae77740
ethz.ecitpid
pub:67268
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2017-07-19T01:31:01Z
ethz.rosetta.lastUpdated
2021-02-15T01:29:16Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
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