Franklin

Trajectory generation and control for quadrotors / Daniel Mellinger.

Author/Creator:
Mellinger, Daniel.
Publication:
2012.
Format/Description:
Thesis/Dissertation
Book
vi, 129 p. : ill. (some col.) ; 29 cm.
Status/Location:
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Local subjects:
Penn dissertations -- Mechanical engineering. (search)
Mechanical engineering -- Penn dissertations. (search)
Penn dissertations -- Applied mechanics. (search)
Applied mechanics -- Penn dissertations. (search)
Summary:
This thesis presents contributions to the state-of-the-art in quadrotor control, payload transportation with single and multiple quadrotors, and trajectory generation for single and multiple quadrotors. In Ch. 2 we describe a controller capable of handling large roll and pitch angles that enables a quadrotor to follow trajectories requiring large accelerations and also recover from extreme initial conditions. In Ch. 3 we describe a method that allows teams of quadrotors to work together to carry payloads that they could not carry individually. In Ch. 4 we discuss an online parameter estimation method for quadrotors transporting payloads which enables a quadrotor to use its dynamics in order to learn about the payload it is carrying and also adapt its control law in order to improve tracking performance. In Ch. 5 we present a trajectory generation method that enables quadrotors to fly through narrow gaps at various orientations and perch on inclined surfaces. Chapter 6 discusses a method for generating dynamically optimal trajectories through a series of predefined waypoints and safe corridors and Ch. 7 extends that method to enable heterogeneous quadrotor teams to quickly rearrange formations and avoid a small number of obstacles.
Notes:
Adviser: Vijay Kumar.
Thesis (Ph.D. in Mechanical Engineering and Applied Mechanics) -- University of Pennsylvania, 2012.
Includes bibliographical references.
Contributor:
Kumar, Vijay, advisor.
Yim, Mark committee member.
Jadbabaie, Ali committee member.
D'Andrea, Raffaello committee member.
Kothmann, Bruce committee member.
University of Pennsylvania. Mechanical Engineering and Applied Mechanics.
ISBN:
9781267355195
OCLC:
801184299