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Learning Quadrotor Maneuvers from Optimal Control

Maier, Moritz (2013) Learning Quadrotor Maneuvers from Optimal Control. Master's. DLR-Interner Bericht. 572-2013/08, 142 S.

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Abstract

In this diploma thesis, a novel approach for quadrotor maneuver generation is presented. Using Dynamic Movement Primitives, offline computed solutions of optimal control problems are learned and generalized. A mesh of solutions is created, learned and the weights of the Gaussian basis are interpolated linearly. To generalize trajectories with different durations, an enhanced temporal scaling method is applied. The developed framework was implemented using a planar quadrotor model, but can be extended directly to a more detailed model. It allows to generate different optimal maneuvers, for instance point-to-point with arbitrary goals or flips with defined heights, and in-flight modifications, e.g. to avoid obstacles. States of the quadrotor can be defined at instants during the maneuver while in general no assumptions about the trajectory profiles are made. The trajectories implicitly fulfill given input and state constraints and different optimality criteria can be taken into account. To evaluate the developed method, simulations and experiments with a real quadrotor in an indoor test environment were performed.

Item URL in elib:https://elib.dlr.de/85798/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Learning Quadrotor Maneuvers from Optimal Control
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Maier, Moritzmoritz.maier (at) dlr.deUNSPECIFIED
Date:13 May 2013
Journal or Publication Title:Learning Quadrotor Maneuvers from Optimal Control
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:142
Status:Published
Keywords:quadrotor, trajectory generation, movement primitives, optimal control
Institution:Technische Universität München
Department:Lehrstuhl für Flugsystemdynamik
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 Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Tomic, Teodor
Deposited On:16 Dec 2013 15:12
Last Modified:16 Dec 2013 15:12

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