TY - GEN
T1 - Towards Time-Optimal Tunnel-Following for Quadrotors
AU - Arrizabalaga, Jon
AU - Ryll, Markus
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles, such as quadrotors. State-of-the-art approaches, either assume bounds to be static and generate time-optimal trajectories offline, or compromise time-optimality for constraint satisfaction. Leveraging nonlinear model predictive control and a path parametric reformulation of the quadrotor model, we present a real-time control that approximates time-optimal behavior and remains within dynamic corridors. The efficacy of the approach is evaluated by simulated results, showing itself capable of performing extremely aggressive maneuvers as well as stop-and-go and backward motions. Video: https://youtu.be/Apc8MCu7Yvo
AB - Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles, such as quadrotors. State-of-the-art approaches, either assume bounds to be static and generate time-optimal trajectories offline, or compromise time-optimality for constraint satisfaction. Leveraging nonlinear model predictive control and a path parametric reformulation of the quadrotor model, we present a real-time control that approximates time-optimal behavior and remains within dynamic corridors. The efficacy of the approach is evaluated by simulated results, showing itself capable of performing extremely aggressive maneuvers as well as stop-and-go and backward motions. Video: https://youtu.be/Apc8MCu7Yvo
UR - http://www.scopus.com/inward/record.url?scp=85136329374&partnerID=8YFLogxK
U2 - 10.1109/ICRA46639.2022.9811764
DO - 10.1109/ICRA46639.2022.9811764
M3 - Conference contribution
AN - SCOPUS:85136329374
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4044
EP - 4050
BT - 2022 IEEE International Conference on Robotics and Automation, ICRA 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 39th IEEE International Conference on Robotics and Automation, ICRA 2022
Y2 - 23 May 2022 through 27 May 2022
ER -