Authors:

Jefte Santiago

Date Created:

Not specified

Course Title:

Professor:

Not specified

About Paper:

Autonomous robots have existed for decades now, they can be programmed to do multiple things by today's standards. One of those things is trajectory planning with quadcopters. This project is focused on Unmanned Aerial Systems trajectory planning with aerodynamics. To be able to properly plan the trajectory of a multirotor, it is necessary to consider aerodynamic forces in the algorithm. What J. Goppert et al. have done is create a framework to make the multirotor flight, but it puts aerodynamics aside. The problem with doing so is that aerodynamics changes flight characteristics and the quadcopter could end up out of the projected trajectory. To solve this problem, it is necessary to plan a trajectory that considers aerodynamics. When aerodynamic forces are considered, a multirotor should follow a traced path and combat aerodynamic forces mid-flight. With the use of polynomial trajectory planning, it gets harder to consider aerodynamical forces in the project because of the nature of the "snap" derivative method with polynomial trajectory planning. For that reason, this project is focused on including a method that can consider aerodynamic forces in the current framework

Source:

Purdue University / 2023

Topics:

No topics listed

Co-authors:

Jefte Santiago