Proceedings Article10.1109/CHICC.2016.7554245
Trajectory generation for quadrotors using Galerkin projection and fuzzy inference
Yuan-yuan Tian,Huai-Ning Wu,Shuang Feng +2 more
- 27 Jul 2016
- pp 5693-5698
TL;DR: In this paper, the trajectory generation problem for quadrotors is formulated as a quadratic programming (QP) problem and a fuzzy inference system is constructed to determine the coefficients.
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Abstract: This paper studies the trajectory generation problem for quadrotors. The quadrotor is an excellent vehicle for internal surveillance, search and remote inspection. Bezier polynomials are used to parameterize the states, inputs and performance index. The trajectory generation problem is formulated as a quadratic programming (QP) problem. Galerkin's projection method is used to impose the dynamics as an equality constraint. Linearization of the quadrotor's model is used to get a linear constraint of the coefficient. To deal with the uncertainty of the state measurements, the quadrotor's model is linearized about some operating points closed to the measurement of the initial state instead of the measurement of the initial state. For every local linear model a QP problem is solved. Then a fuzzy inference system is constructed to determine the coefficients. Simulations are presented to demonstrate the effectiveness of the proposed trajectory generation method.
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A prototype of an autonomous controller for a quadrotor UAV
Ian D. Cowling,Oleg A. Yakimenko,James F. Whidborne,Alastair K. Cooke +3 more
- 02 Jul 2007
TL;DR: In this article, a real-time control algorithm for autonomous collision-free operations of the quadrotor UAV is proposed for search and rescue, surveillance, and remote inspection.
Trajectory planning for a quadrotor helicopter
Yasser Bouktir,M. Haddad,Taha Chettibi +2 more
- 25 Jun 2008
TL;DR: In this article, a simple direct method able to generate time-optimal trajectories for a micro quadrotor helicopter is presented, which is based on modeling the quad-rotor trajectory as a composition of a parametric function P(λ) defining the path, and a monotonically increasing function lambda(t), specifying the motion on this path.