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Adaptive Trajectory Sampling and Control Throttling for High-Speed Flight
The goal of this project is to analyze the impact of the sampling frequency on the tracking performance of a quadrotor flying an high-speed trajectory.
Numerous solutions to plan obstacle-free, high-speed trajectories for quadrotors have been proposed in the last years, and state-of-the-art nonlinear controller can be used to track them. One of the issue arising from a digital implementation of a controller tracking an high-speed trajectory is related to the frequency the latter should be sampled. The goal of this project is to analyze the impact of the sampling frequency on the tracking performance of a quadrotor flying an high-speed trajectory, and to design an adaptive sampling scheme taking into account the "aggressiveness" of such a trajectory to help the controller tracking it more accurately. Also, such an adaptive scheme will be used to throttle the controller according to such the sampling frequency.
Numerous solutions to plan obstacle-free, high-speed trajectories for quadrotors have been proposed in the last years, and state-of-the-art nonlinear controller can be used to track them. One of the issue arising from a digital implementation of a controller tracking an high-speed trajectory is related to the frequency the latter should be sampled. The goal of this project is to analyze the impact of the sampling frequency on the tracking performance of a quadrotor flying an high-speed trajectory, and to design an adaptive sampling scheme taking into account the "aggressiveness" of such a trajectory to help the controller tracking it more accurately. Also, such an adaptive scheme will be used to throttle the controller according to such the sampling frequency.
The goal of this project is to analyze the impact of the sampling frequency on the tracking performance of a quadrotor flying an high-speed trajectory.
The goal of this project is to analyze the impact of the sampling frequency on the tracking performance of a quadrotor flying an high-speed trajectory.
Davide Falanga (falanga@ifi.uzh.ch), Suseong Kim (suseong@ifi.uzh.ch)
Davide Falanga (falanga@ifi.uzh.ch), Suseong Kim (suseong@ifi.uzh.ch)