An Optimization Problem for Quadcopter Reference Flight Trajectory Generation

Quadcopter Flight Dynamics

Angular maneuvering scheme along with standard flight operations such as taking-off, landing and hovering is proposed for a quadcopter with indoor or outdoor flying capabilities. This is achieved by simultaneously controlling the speed of the four rotors in order for the quadcopter to attain the correct orientation. The total thrust is determined using the inputs of altitude, pitch and roll ang...

Trajectory generation and display for free flight

In this study a new approach is proposed for the generation of aircraft trajectories. The relative guidance of an aircraft, which is aimed to join in minimum time the track of a leader aircraft, is particularly considered. In a first place, a minimum time relative convergence problem is considered and optimal trajectories are characterized. Then the synthesis of a neural approximator for optima...

Guidance , Flight Mechanics ! and Trajectory Optimization

Distribution of this report is provided in the interest of information exchange. Responsibility for the contents resides in the author or organization that prepared it. For sole by the Clearinghouse for Federal Scientific and Technical Information Springfield, Virginia 22151-CFSTI price $3.00 FOREWORD This report was prepared under contract NAS 8-11495 and is one of a series intended to illustr...

Biologically Inspired Adaptive Control of Quadcopter Flight

This thesis explores the application of a biologically inspired adaptive controller to quadcopter flight control. This begins with an introduction to modelling the dynamics of a quadcopter, followed by an overview of control theory and neural simulation in Nengo. The Virtual Robotics Experimentation Platform (V-REP) is used to simulate the quadcopter in a physical environment. Iterative design ...

Real-Time Trajectory Generation for Autonomous Nonlinear Flight Systems