Vision-based minimum-time trajectory generation for a quadrotor UAV
Bryan Penin, Riccardo Spica, Paolo Robuffo Giordano, François Chaumette
Abstract
In this paper, we address the problem of using a camera with limited field of view for controlling the motion of a quadrotor in aggressive flight regimes. We present a minimum time trajectory planning method that guarantees visibility of the image features while allowing the robot to undertake aggressive motions for which the usual near-hovering assumption is violated. We exploit differential flatness and B-Splines to parametrize the system trajectories in terms of a finite number of control points, which can then be optimized by Sequential Quadratic Programming (SQP). The control strategy is similar to a Receding Horizon Control (RHC) approach for modifying online the reference trajectory in order to account for noise, disturbances and any non-modeled effect. The algorithm is validated in a physically realistic simulation environment.
BibTeX
@inproceedings{iros2017_visionbasedminim,
title = {Vision-based minimum-time trajectory generation for a quadrotor UAV},
author = {Bryan Penin and Riccardo Spica and Paolo Robuffo Giordano and François Chaumette},
booktitle = {IROS 2017},
year = {2017}
}