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3D path planning of UAV using model predictive control

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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

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