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Differential Dynamic Programming for Aerial Robots using an Aerodynamics Model

Abuter Grebe, Nicolas Omar (2017) Differential Dynamic Programming for Aerial Robots using an Aerodynamics Model. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2017-126, 102 S.

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State of the art trajectory generation schemes for quadrotors assume a simple dynamic model. They neglect aerodynamic effects such as induced drag and blade flapping and assume that no wind is present. In order to overcome this limitation, this thesis investigates a trajectory optimization scheme based upon Differential Dynamic Programming (DDP). There are various software-implementations of the DDP scheme. For future deployment on robotic hardware the software is required to be computationally efficient and to be open-source. The C++ template-based optimization library named GCOP developed at JHU was deemed suitable so it was selected for this purpose. Before implementing the solver, a full model of the Crazyflie Nano Quadcopter is identified experimentally. The model considers a first order term for the aerodynamic forces in each axis of the body frame. The solver is validated, normalized and the performance is benchmarked. This method yields reliable minimum control-effort trajectories. The computation time required to reach the optimum solution is studied for different dicretizations, and for different choices of solver parameters. A control scheme is proposed and studied in Monte-Carlo simulations. It is robust and able to handle large modelling errors in mass and moment of inertia while ensuring minimal error on the final state.

Item URL in elib:https://elib.dlr.de/113268/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Differential Dynamic Programming for Aerial Robots using an Aerodynamics Model
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Date:12 June 2017
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:102
Keywords:Dynamic Trajectory Planning, Differential Dynamic Programming, Micro Aerial Vehicles, Propeller Aerodynamics Model
Institution:Delft University of Technology
Department:Faculty of Aerospace Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Stoneman, Samantha
Deposited On:19 Jul 2017 15:43
Last Modified:28 Oct 2017 19:10

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