Adaptive fast open-loop maneuvers for quadrocopters

被引：33

作者：

Lupashin, Sergei ^{[1
]}

D'Andrea, Raffaello ^{[1
]}

机构：

[1] ETH, Inst Dynam Syst & Control, CH-8092 Zurich, Switzerland

来源：

AUTONOMOUS ROBOTS | 2012年 / 33卷 / 1-2期

基金：

瑞士国家科学基金会;

关键词：

Aerial robotics; Aerobatics; Learning; Policy gradient;

D O I：

10.1007/s10514-012-9289-9

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We present a conceptually and computationally lightweight method for the design and iterative learning of fast maneuvers for quadrocopters. We use first-principles, reduced-order models and we do not require nor make an attempt to follow a specific state trajectory-only the initial and the final states of the vehicle are taken into account. We evaluate the adaptation scheme through experiments on quadrocopters in the ETH Flying Machine Arena that perform multi-flips and other high-performance maneuvers.

引用

页码：89 / 102

页数：14