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Generation of Fast or Time-Optimal Tracjectories for Quadrotor Flight
Develop a planning framework for very fast or even time-optimal quadrotor trajectories.
Keywords: quadrotor control planning trajectory optimization RRT model predictive control
With the rise of complex control and planning methods, quadrotors are capable of executing astonishing maneuvers.
While generating trajectories between two known poses or states is relatively simple, planning through multiple waypoints is rather complicated.
The master class of this problem is the task of flying as fast as possible through multiple gates, as done in drone racing.
While humans can perform such fast racing maneuvers at extreme speeds of more than 100 km/h, algorithms struggle with even planning such trajectories.
Within this thesis, we want to research methods to generate such fast trajectories and work towards a time-optimal planner.
This requires some prior knowledge in at least some of the topics including: planning for robots, optimization techniques, model predictive control, RRT, and quadrotors or UAVs in general.
The tasks will reach from problem analysis, approximation, and solution concepts to implementation and testing in simulation with existing software tools.
With the rise of complex control and planning methods, quadrotors are capable of executing astonishing maneuvers. While generating trajectories between two known poses or states is relatively simple, planning through multiple waypoints is rather complicated. The master class of this problem is the task of flying as fast as possible through multiple gates, as done in drone racing. While humans can perform such fast racing maneuvers at extreme speeds of more than 100 km/h, algorithms struggle with even planning such trajectories. Within this thesis, we want to research methods to generate such fast trajectories and work towards a time-optimal planner. This requires some prior knowledge in at least some of the topics including: planning for robots, optimization techniques, model predictive control, RRT, and quadrotors or UAVs in general. The tasks will reach from problem analysis, approximation, and solution concepts to implementation and testing in simulation with existing software tools.
The goal would be to analyse the planning problem, develop approximation techniques and solve it as time-optimal as possible during thesis.
The goal would be to analyse the planning problem, develop approximation techniques and solve it as time-optimal as possible during thesis.