3D path planning of UAV using model predictive control

dc.contributor.author	Singhal, Rahul
dc.contributor.author	Sujit, PB (Advisor)
dc.date.accessioned	2015-12-07T09:55:13Z
dc.date.available	2015-12-07T09:55:13Z
dc.date.issued	2015-12-07T09:55:13Z
dc.identifier.uri	https://repository.iiitd.edu.in/jspui/handle/123456789/383
dc.description.abstract	Path planning is essential for UAVs that travel in different terrains. Designing feasible path planners for UAVs taking the dynamic constraints is difficult. In this thesis, we develop a 3D path planner using model predictive control (MPC) methods for a quadrotor. The MPC based controller optimizes the control effort required to travel a given reference path. The obtained path avoids infeasible regions of the terrain and also threats. The MPC takes constraints on jerks, position and angular acceleration on the quadcopter. Simulation results are presented to validate our approach.	en_US
dc.language.iso	en	en_US
dc.subject	UAV	en_US
dc.subject	Path Planning	en_US
dc.subject	Model Predictive Control	en_US
dc.subject	3D terrain	en_US
dc.subject	3D Vertical obstacle	en_US
dc.subject	Threat avoidance	en_US
dc.title	3D path planning of UAV using model predictive control	en_US
dc.type	Thesis	en_US