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Fast Full State Trajectory Generation for Multirotors

1,522 views · Published 20 May 2017 · 3:18 · Indexed 5 October 2026

Channel: nimbro · 2017 · Science & Technology

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Video illustrating the article:
Marius Beul and Sven Behnke: 
"Fast Full State Trajectory Generation for Multirotors"
International Conference on Unmanned Aircraft Systems (ICUAS) 2017.
http://www.ais.uni-bonn.de/papers/ICUAS_2017_Beul_Trajectory_Generation.pdf


Abstract—Micro aerial vehicles, such as multirotors, are
developed for applications like autonomous monitoring, inspection,
and surveillance. Most of the current application
scenarios assume a stationary environment and thus, trajectory
generation relies on static targets. In this paper, we address
time-optimal trajectory generation in dynamic environments,
e.g., for landing on a moving platform.
We extend our existing trajectory generation method by
the ability to synchronize several axes of motion, following a
master/slave approach for individual axes. We further explicitly
treat moving targets, like moving landing platforms by planning
in a target-centric frame. Our evaluation demonstrates the
performance of the method under disturbances.
These results have application in dynamic multicopter flight,
and also allow for fast and precise multicopter motion under
challenging conditions.

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