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Learning Quadrotor Maneuvers From Optimal Control and Generalizing in Real-Time

Tomić, Teodor and Maier, Moritz and Haddadin, Sami (2014) Learning Quadrotor Maneuvers From Optimal Control and Generalizing in Real-Time. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 1747-1754. 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), 31 May - 7 June 2014, Hong Kong, China.

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Abstract

In this paper, we present a method for learning and online generalization of maneuvers for quadrotor-type vehicles. The maneuvers are formulated as optimal control problems, which are solved using a general purpose optimal control solver. The solutions are then encoded and generalized with Dynamic Movement Primitives (DMPs). This allows for real-time generalization to new goals and in-flight modifications. An effective method for joining the generalized trajectories is implemented. We present the necessary theoretical background and error analysis of the generalization. The effectiveness of the proposed method is showcased using planar point-to-point and perching maneuvers in simulation and experiment.

Item URL in elib:https://elib.dlr.de/90227/
Document Type:Conference or Workshop Item (Lecture)
Title:Learning Quadrotor Maneuvers From Optimal Control and Generalizing in Real-Time
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Tomić, Teodorteodor.tomic (at) dlr.deUNSPECIFIED
Maier, Moritzmoritz.maier (at) dlr.deUNSPECIFIED
Haddadin, SamiSami.Haddadin (at) dlr.deUNSPECIFIED
Date:31 May 2014
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 1747-1754
Status:Published
Keywords:quadrotor, dynamic movement primitive, optimal control
Event Title:2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
Event Location:Hong Kong, China
Event Type:international Conference
Event Dates:31 May - 7 June 2014
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: Tomic, Teodor
Deposited On:08 Sep 2014 10:06
Last Modified:31 Jul 2019 19:47

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