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Date
2011Type
- Conference Paper
ETH Bibliography
yes
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Abstract
A numerical method for computing quadrocopter maneuvers between two states is presented. Computed maneuvers satisfy Pontryagin's minimum principle with respect to time-optimality. First, in order to obtain the structure of time-optimal maneuvers, we apply the minimum principle to a first-principles, two-dimensional quadrotor model. Then we present a numerical algorithm that enables the computation of maneuvers for arbitrary initial and final states. The developed method is used to compute a set of maneuvers, which are discussed and demonstrated experimentally in the ETH Zurich Flying Machine Arena testbed. Show more
Publication status
publishedExternal links
Book title
2011 IEEE/RSJ International Conference on Intelligent Robots and SystemsPages / Article No.
Publisher
IEEEEvent
Organisational unit
03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
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ETH Bibliography
yes
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