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Optimal trajectory planning and predictive control for cinematographic flight plans with quadrotors

Abstract : This thesis focuses on the autonomous performance of cinematographic flight plans by camera equipped quadrotors. These flight plans consist in a series of waypoints to join while adopting various camera behaviors, along with speed references and flight corridors. First, an in depth study of the nonlinear dynamics of the drone is proposed, which is then used to derive a linear model of the system around the hovering equilibrium. An analysis of this linear model allows us to emphasize the impact of the inertia of the propellers when the latter are tilted, such as the apparition of a nonminimum phase behavior of the pitch or roll dynamics. Then, two algorithms are proposed to generate smooth and feasible cinematographic trajectories. The feasibility of the trajectory is ensured by constraints on its time derivatives, suited for cinematography and obtained with the use of the nonlinear model of the drone. The first algorithm proposed in this work is based on a bi-level optimization of a piecewise polynomial trajectory, in order to find the fastest feasible minimum jerk trajectory to perform the flight plan. The second algorithm consists in the generation of feasible, minimum time, non-uniform B-spline trajectories. For both solutions, a study of the initilization of the optimization problem is proposed, as well as a discussion about their advantages and limitations. To this aim, they are notably confronted to simulations and outdoor flight experiments. Finally, a predictive control law is proposed to smoothly and accurately control the onboard camera.
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Submitted on : Tuesday, December 10, 2019 - 2:37:06 PM
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  • HAL Id : tel-02402461, version 1

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Gauthier Rousseau. Optimal trajectory planning and predictive control for cinematographic flight plans with quadrotors. Automatic. Université Paris-Saclay, 2019. English. ⟨NNT : 2019SACLC086⟩. ⟨tel-02402461⟩

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