Minimum Time Trajectory Generation of Quadrotor under Path Constraint
- Title
- Minimum Time Trajectory Generation of Quadrotor under Path Constraint
- Other Titles
- 정해진 경로를 따라가는 최단 시간의 쿼드로터 궤적 생성
- Author
- 김광수
- Alternative Author(s)
- 김광수
- Advisor(s)
- 박종현
- Issue Date
- 2017-02
- Publisher
- 한양대학교
- Degree
- Master
- Abstract
- This research addresses the minimum time trajectory generation for a quadrotor under a path constraint. For meaning of the path constraint, it is a sequence of closely located position vectors that constitutes a desired line of trip in 3D Cartesian coordinate system. This work presents an algorithm to generate the time optimal trajectory on the desired path while ensuring dynamics of a quadrotor, maximum and minimum input limitation, and initial and final state. Due to nonlinearity of a quadrotor dynamics, the standard optimization problem cannot be solved in analytic way, therefore, the problem is discretized into a parameterized optimization problem by the method known as Direct Collocation Method. Experimental results include various paths transformed into feasible quadrotor time-optimal trajectories with desired inputs and states.
- URI
- https://repository.hanyang.ac.kr/handle/20.500.11754/124804http://hanyang.dcollection.net/common/orgView/200000429676
- Appears in Collections:
- GRADUATE SCHOOL[S](대학원) > MECHANICAL ENGINEERING(기계공학과) > Theses (Master)
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