Minimum-Time Trajectory Generation for Quadrotors in Constrained Environments

Minimum-time trajectory generation for quadrotors in constrained environments

In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical limitations of the vehicle. Instead of approaching the optimization problem in its standard time-parameterized formulation, the proposed strategy is based on an...

Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors

Control and trajectory generation algorithms for a quadrotor helicopter with variable-pitch propellers are presented. The control law is not based on near-hover assumptions, allowing for large attitude deviations from hover. The trajectory generation algorithm fits a time-parametrized polynomial through any number of waypoints in R, with a closed-form solution if the corresponding waypoint arri...

Minimum Fuel Trajectory in a 3/ D Time Scheduled Climb

Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors

We study the problem of designing dynamically feasible trajectories and controllers that drive a quadrotor to a desired state in state space. We focus on the development of a family of trajectories defined as a sequence of segments, each with a controller parameterized by a goal state or region in state space. Each controller is developed from the dynamic model of the robot and then iteratively...

Trajectory Generation for Capturing a Moving Object in Predictable Environments ∗

In the field of computer vision, it is a complex and demanding much task to detect and to track moving objects from a moving observer. However, in this paper a new scheme for a mobile robot to track and capture a moving object using images of a camera is proposed. The system consists of the following modules: data acquisition, feature extraction and visual tracking, and trajectory generation. A...