Quadcopter-performed cinematographic flight plans using minimum jerk trajectories and predictive camera control
| Autor: | Mathieu Babel, Gauthier Rousseau, Sihem Tebbani, Cristina Stoica Maniu, Nicolas Martin |
|---|---|
| Přispěvatelé: | Laboratoire des signaux et systèmes (L2S), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-CentraleSupélec-Université Paris-Sud - Paris 11 (UP11) |
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Quadcopter Computer science Feed forward 020207 software engineering Context (language use) 02 engineering and technology [SPI.AUTO]Engineering Sciences [physics]/Automatic Waypoint Model predictive control 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering Piecewise Trajectory |
| Zdroj: | 16th European Control Conference (ECC 2018) 16th European Control Conference (ECC 2018), Jun 2018, Limassol, Cyprus HAL ECC |
| Popis: | International audience; This paper proposes a receding waypoint horizon strategy generating a piecewise polynomial trajectory with minimum jerk and predictive tracking of camera references for quadrotors, in the context of autonomous aerial single-sequence shots in a static environment. In order to deal with the limited on-board computation resources, the camera control is performed with an undersampled model predictive controller generating a set-point trajectory and a feedforward control signal, both used by a larger frequency controller. The performance of the overall strategy is illustrated with a real flight, on a Parrot Bebop 2 drone. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|