In this paper, a strategy for planning aggressive collision-free parcel relay manoeuvres for quadrotors is proposed. The method relies on the generation of optimal polynomial trajectories with acceleration constraints in order to coordinate the attitude of the vehicles during the package exchange. The problem is formulated as a mixed-integer quadratic program where the integer constraints ensure collision avoidance. The manoeuvre is divided into three phases and the dynamical model of the robots is considered to ensure the vehicles keep a suitable relative orientation during the parcel transfer. Simulation results demonstrate the success of the presented strategy.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Planning Parcel Relay Manoeuvres for Quadrotors


    Beteiligte:
    Pinto, Joao (Autor:in) / Guerreiro, Bruno J. (Autor:in) / Cunha, Rita (Autor:in)


    Erscheinungsdatum :

    15.06.2021


    Format / Umfang :

    1062863 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Planning Emergency Manoeuvres

    Szlapczynski, Rafal | Online Contents | 2009


    Planning emergency manoeuvres

    Szlapczynski, Rafal | Tema Archiv | 2009


    Validation in X-Plane of Control Schemes for Taking off and Landing Manoeuvres of Quadrotors

    Ricardo Y. Almazan-Arvizu / Octavio Gutiérrez-Frías / Yair Lozano-Hernández et al. | DOAJ | 2024

    Freier Zugriff

    Planning feasible vehicle manoeuvres on highways

    Schubert, R. / Scheunert, U. / Wanielik, G. | IET | 2008


    Planning natural repointing manoeuvres for nano-spacecraft

    Maclean, Craig / Pagnozzi, Daniele / Biggs, James | IEEE | 2014