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Showing 1 to 3 of 3 for “"minimum snap"”.
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Data-driven Target Tracking and Hybrid Path Planning Methods for Autonomous Operation of UAV
… deconfliction. To ensure smooth trajectories, a minimum snap trajectory method was applied to the planned paths, enabling controller tracking that remains dynamically feasible throughout the entire operation of UAVs. The methods were validated in the Software-in-the-loop (SITL) demonstration with …
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Soft Aerial Manipulation
… and employing (i) a geometric controller and a minimum-snap trajectory optimization for the quadrotor (rigid) base, and (ii) a quasi-static finite element model and control-space interpolation for the soft gripper. We prove that the geometric controller asymptotically stabilizes the quadrotor …
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Piecewise Bézier curve trajectory generation and control for quadrotors
… generates piecewise Bézier curves which minimize snap over the complete trajectory. The optimization method generates these trajectories from collision-free waypoints indicative of the constrained environment. Further, the Bézier curves are time parameterized to satisfy the dynamic constraints and …