飛行制御arXiv:2610.34456
クアッドロータの軌道生成と制御
Trajectory Generation and Control for Quadrotors
微分平坦性を用いて最小スナップ軌道を生成し、PD制御で追従させるクアッドロータの軌道生成・制御手法をシミュレーションで検証した。
著者: Sandesh Thapa
分類: eess.SY, cs.RO
原文アブストラクト
In this project, I explored controller design and trajectory generation for a quadrotor. Differential flatness was used for trajectory generation based on one of the references. A minimum snap trajectory is generated from the given algorithm based on waypoint navigation, and a simple proportional plus derivative (PD) controller is used to track the trajectories. Simulation results are presented which generate smooth trajectories for position and velocity of the quadrotor.