Planning and control for quadrotor flight through cluttered environments
Name
932228932-MIT.pdf
Description
Full printable version
Size
12.41 MB
Format
Adobe PDF
Checksum (MD5)
6c6d76dfd48386cd039ae0a58df161f3
Author(s)
Landry, Benoit, M. Eng. Massachusetts Institute of Technology
Advisor(s)
Russ Tedrake.
Date Issued
2015
Publisher
Massachusetts Institute of Technology
Abstract
Previous demonstrations of autonomous quadrotor flight have typically been limited to sparse environments due to the computational burden associated with planning for a large number of obstacles. We hypothesized that it would be possible to do efficient planning and robust execution in obstacle-dense environments using the novel Iterative Regional Inflation by Semidefinite programming algorithm (IRIS), mixed-integer semidefinite programs (MISDP), and model-based control approaches. Here, we present experimental validation of this hypothesis using a small quadrotor in a series of indoor environments including a cubic meter volume containing 20 interwoven strings. We chose one of the smallest hardware platforms available on the market (34g, 92mm rotor to rotor), allowing for these dense environments and explain how to overcome the many system identification, state estimation, and control problems that result from the small size of the platform and the complexity of the environments.
Description
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2015.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 69-71).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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