Minimum-Energy Path Generation for a Quadrotor UAV

被引：0

作者：

Morbidi, Fabio ^{[1
]}

Cano, Roel ^{[2
]}

Lara, David ^{[2
]}

机构：

[1] Univ Picardie Jules Verne, MIS Lab, 33 Rue St Leu, F-80039 Amiens, France

[2] Univ Autonoma Tamaulipas, Posgrad UAMRR, GPO Box 1460, Reynosa Tamps 88779, Mexico

来源：

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2016年

关键词：

MANAGEMENT;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A major limitation of existing battery-powered quadrotor UAVs is their reduced flight endurance. To address this issue, by leveraging the electrical model of a brushless DC motor, we explicitly determine minimum-energy paths between a predefined initial and final configuration of a quadrotor by solving an optimal control problem with respect to the angular accelerations of the four propellers. As a variation on this problem, if the total energy consumption between two boundary states is fixed, minimum-time and/or minimum-control-effort trajectories are computed for the aerial vehicle. The theory is illustrated for the DJI Phantom 2 quadrotor in three realistic scenarios.

引用

页码：1492 / 1498

页数：7

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