Title :
3D trajectory tracking for a quadcopter using MPC on a 3D terrain
Author :
Singhal, Rahul ; Sujit, P.B.
Author_Institution :
Indraprastha Inst. of Inf. Technol. Delhi, New Delhi, India
Abstract :
This paper presents a method to generate and follow a smallest weighted path in 3D by quadcopter. A smallest weighted path is obtained using Dijkstra´s algorithm based on terrain information. To follow the generated path we use a Model predictive control that takes constraints on jerks, position and angular acceleration on the quadcopter. Simulation results are presented to validate our approach.
Keywords :
aircraft control; helicopters; predictive control; trajectory control; 3D terrain; 3D trajectory tracking; Dijkstra´s algorithm; MPC; model predictive control; path generation; quadcopter; smallest weighted path; terrain information; Acceleration; Cost function; Euclidean distance; Mathematical model; Predictive control; Three-dimensional displays; Trajectory;
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2015 International Conference on
Print_ISBN :
978-1-4799-6009-5
DOI :
10.1109/ICUAS.2015.7152434
