Aggressive quadrotor flight through cluttered environments using mixed integer programming
Name
Landry15b.pdf
Description
Accepted version
Size
1.07 MB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Landry, Benoit
Deits, Robin Lloyd Henderson
Florence, Peter Raymond
Tedrake, Russell L
Date Issued
June 2016
Journal
2016 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Landry, Benoit et al. "Aggressive quadrotor flight through cluttered environments using mixed integer programming." 2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden, Institute of Electrical and Electronics Engineers (IEEE), June 2016 © 2016 IEEE
Version
Author's final manuscript
Abstract
Quadrotor flight has typically been limited to sparse environments due to numerical complications that arise when dealing with large numbers of obstacles. We hypothesized that it would be possible to plan and robustly execute trajectories in obstacle-dense environments using the novel Iterative Regional Inflation by Semidefinite programming algorithm (IRIS), mixed-integer semidefinite programs (MISDP), and model-based control. Unlike sampling-based approaches, the planning algorithm first introduced by Deits theoretically guarantees non-penetration of the trajectories even with small obstacles such as strings. We present experimental validation of this claim by aggressively flying a small quadrotor (34g, 92mm rotor to rotor) in a series of indoor environments including a cubic meter volume containing 20 interwoven strings, and present the control architecture we developed to do so.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/icra.2016.7487282
