Full metadata
Title
Towards Model Predictive Control for Acrobatic Quadrotor Flights
Description
Acrobatic maneuvers of quadrotors present unique challenges concerning trajectorygeneration, control, and execution. Specifically, the flip maneuver requires dynamically
feasible trajectories and precise control. Various factors, including rotor dynamics,
thrust allocation, and control strategies, influence the successful execution of flips.
This research introduces an approach for tracking optimal trajectories to execute flip
maneuvers while ensuring system stability autonomously. Model Predictive Control
(MPC) designs the controller, enabling the quadrotor to plan and execute optimal
trajectories in real-time, accounting for dynamic constraints and environmental factors.
The utilization of predictive models enables the quadrotor to anticipate and adapt to
changes during aggressive maneuvers.
Simulation-based evaluations were conducted in the ROS and Gazebo environments.
These evaluations provide valuable insights into the quadrotor’s behavior, response
time, and tracking accuracy. Additionally, real-time flight experiments utilizing state-
of-the-art flight controllers, such as the PixHawk 4, and companion computers, like
the Hardkernel Odroid, validate the effectiveness of the proposed control algorithms
in practical scenarios. The conducted experiments also demonstrate the successful
execution of the proposed approach.
This research’s outcomes contribute to quadrotor technology’s advancement, particularly in acrobatic maneuverability. This opens up possibilities for executing
maneuvers with precise timing, such as slingshot probe releases during flips. Moreover,
this research demonstrates the efficacy of MPC controllers in achieving autonomous
probe throws within no-fly zone environments while maintaining an accurate desired
range. Field application of this research includes probe deployment into volcanic
plumes or challenging-to-access rocky fault scarps, and imaging of sites of interest. along flight paths through rolling or pitching maneuvers of the quadrotor, to use sensorsuch as cameras or spectrometers on the quadrotor belly.
Date Created
2023
Contributors
- jain, saransh (Author)
- Das, Jnaneshwar (Thesis advisor)
- Zhang, Wenlong (Committee member)
- Marvi, Hamid (Committee member)
- Arizona State University (Publisher)
Topical Subject
Resource Type
Extent
76 pages
Language
eng
Copyright Statement
In Copyright
Primary Member of
Peer-reviewed
No
Open Access
No
Handle
https://hdl.handle.net/2286/R.2.N.189307
Level of coding
minimal
Cataloging Standards
Note
Partial requirement for: M.S., Arizona State University, 2023
Field of study: Engineering
System Created
- 2023-08-28 05:02:50
System Modified
- 2023-08-28 05:02:55
- 1 year 3 months ago
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