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Fast Minimum Time Trajectory Generation for Quadrotors
In this project, we aim at designing quadrotor trajectories to fly through the predefined waypoints in the time optimal manner.
Quadrotors have been utilized as a versatile airborne platform. Especially, it has been applied to monitor, reconnaissance, and surveillance tasks by exploiting its various flight regimes from hovering to aggressive maneuvering. To utilize a quadrotor more effectively, in this project, we aim at designing quadrotor trajectories to fly through the predefined waypoints in the time optimal manner. In the trajectory generating considerations, we mainly focus on two aspects: (i) designing feasible trajectories in terms of the given actuator capacity; (ii) computing trajectories in real time to adapt the reference trajectory in accordance with dynamic environments. The computed trajectory will be compared with the existing minimum time trajectory generating methods. Also, experiments using an agile quadrotor will be conducted to validate the feasibility of the computed trajectory.
Quadrotors have been utilized as a versatile airborne platform. Especially, it has been applied to monitor, reconnaissance, and surveillance tasks by exploiting its various flight regimes from hovering to aggressive maneuvering. To utilize a quadrotor more effectively, in this project, we aim at designing quadrotor trajectories to fly through the predefined waypoints in the time optimal manner. In the trajectory generating considerations, we mainly focus on two aspects: (i) designing feasible trajectories in terms of the given actuator capacity; (ii) computing trajectories in real time to adapt the reference trajectory in accordance with dynamic environments. The computed trajectory will be compared with the existing minimum time trajectory generating methods. Also, experiments using an agile quadrotor will be conducted to validate the feasibility of the computed trajectory.
The goal of this work is to design a minimum time trajectory generation algithrhm. Specifically, this project aims at computing a feasible minimum time trajectory in real time.
The goal of this work is to design a minimum time trajectory generation algithrhm. Specifically, this project aims at computing a feasible minimum time trajectory in real time.
Suseong Kim (suseong@ifi.uzh.ch), Davide Falanga (falanga@ifi.uzh.ch)
Suseong Kim (suseong@ifi.uzh.ch), Davide Falanga (falanga@ifi.uzh.ch)