• DocumentCode
    3596877
  • 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
  • fYear
    2015
  • Firstpage
    1385
  • Lastpage
    1390
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Unmanned Aircraft Systems (ICUAS), 2015 International Conference on
  • Print_ISBN
    978-1-4799-6009-5
  • Type

    conf

  • DOI
    10.1109/ICUAS.2015.7152434
  • Filename
    7152434
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3596877