東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back to Search results for [ null ]

Switch To: Labeled | MARC Mode | ISBD

Application of the Finite Fourier Se...

Kovryzhenko, Yevhenii.

Linked to FindBook

Google Book

Amazon

博客來

Application of the Finite Fourier Series for Smooth Motion Planning of Quadrotors.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Application of the Finite Fourier Series for Smooth Motion Planning of Quadrotors./
Author:	Kovryzhenko, Yevhenii.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2023,
Description:	88 p.
Notes:	Source: Masters Abstracts International, Volume: 85-05.
Contained By:	Masters Abstracts International85-05.
Subject:	Aircraft. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30671959
ISBN:	9798380710541

Application of the Finite Fourier Series for Smooth Motion Planning of Quadrotors.
Kovryzhenko, Yevhenii.

Application of the Finite Fourier Series for Smooth Motion Planning of Quadrotors. - Ann Arbor : ProQuest Dissertations & Theses, 2023 - 88 p.

Source: Masters Abstracts International, Volume: 85-05.

Thesis (M.S.)--Auburn University, 2023.

This item must not be sold to any third party vendors.

Motion planning and control system design are crucial in the development of unmanned aerial vehicles (UAVs) for various applications. To maximize the mission performance, trajectory design is often performed to minimize motor output and power consumption along the entire path while avoiding obstacles. Polynomial parameterizations have traditionally been used to express UAV trajectories due to their simplicity and effectiveness of implementation. In this work, an alternative parameterization based on Finite Fourier Series (FFS) is investigated. The results of the FFS-based parameterization are compared with the state-of-the-art polynomial-based trajectory generation algorithms. One unique feature of the FFS parameterization is the theoretical piece-wise infinite differentiability of multi-segment trajectories. For fixed-time minimum-snap motion-planning problems using FFS parameterization, it is 1) shown that motion-planning problems can be formulated as quadratic programming (QP) problems, and 2) derived an analytic solution to an unconstrained QP problem. Leveraging the analytic solution, formulation, and solution of time-allocated minimum-snap multi-segment trajectories is also presented. The practical limitations of the FFS method are also discussed in detail. Finally, formulation and numerical comparison of the minimum-snap, multi-segment trajectories with time-allocation are also presented. Performance (with respect to the computation time, power required, and number of iterations) of the FFS and polynomial parameterizations are compared using five representative trajectories. The results show the comparable performance of the two parameterizations with important differences between the two on high-level derivatives. An in-house quadrotor is used with a six-degree-of-freedom (6DoF) cascaded PID flight control logic to experimentally validate the tracking of the generated smooth trajectories.

ISBN: 9798380710541Subjects--Topical Terms:

832698
Aircraft.

Application of the Finite Fourier Series for Smooth Motion Planning of Quadrotors.
LDR:03065nmm a2200373 4500 001 2395261
005 20240517100413.5
006 m o d
007 cr#unu||||||||
008 251215s2023 ||||||||||||||||| ||eng d
020 $a 9798380710541
035 $a (MiAaPQ)AAI30671959
035 $a (MiAaPQ)Auburn104158797
035 $a AAI30671959
040 $a MiAaPQ $c MiAaPQ
100 1 $a Kovryzhenko, Yevhenii. $3 3764763
245 1 0 $a Application of the Finite Fourier Series for Smooth Motion Planning of Quadrotors.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2023
300 $a 88 p.
500 $a Source: Masters Abstracts International, Volume: 85-05.
500 $a Advisor: Taheri, Ehsan;Chakraborty, Imon;Li, Nan.
502 $a Thesis (M.S.)--Auburn University, 2023.
506 $a This item must not be sold to any third party vendors.
520 $a Motion planning and control system design are crucial in the development of unmanned aerial vehicles (UAVs) for various applications. To maximize the mission performance, trajectory design is often performed to minimize motor output and power consumption along the entire path while avoiding obstacles. Polynomial parameterizations have traditionally been used to express UAV trajectories due to their simplicity and effectiveness of implementation. In this work, an alternative parameterization based on Finite Fourier Series (FFS) is investigated. The results of the FFS-based parameterization are compared with the state-of-the-art polynomial-based trajectory generation algorithms. One unique feature of the FFS parameterization is the theoretical piece-wise infinite differentiability of multi-segment trajectories. For fixed-time minimum-snap motion-planning problems using FFS parameterization, it is 1) shown that motion-planning problems can be formulated as quadratic programming (QP) problems, and 2) derived an analytic solution to an unconstrained QP problem. Leveraging the analytic solution, formulation, and solution of time-allocated minimum-snap multi-segment trajectories is also presented. The practical limitations of the FFS method are also discussed in detail. Finally, formulation and numerical comparison of the minimum-snap, multi-segment trajectories with time-allocation are also presented. Performance (with respect to the computation time, power required, and number of iterations) of the FFS and polynomial parameterizations are compared using five representative trajectories. The results show the comparable performance of the two parameterizations with important differences between the two on high-level derivatives. An in-house quadrotor is used with a six-degree-of-freedom (6DoF) cascaded PID flight control logic to experimentally validate the tracking of the generated smooth trajectories.
590 $a School code: 0012.
650 4 $a Aircraft. $3 832698
650 4 $a Unmanned aerial vehicles. $3 3560267
650 4 $a Design. $3 518875
650 4 $a Linear programming. $3 560448
650 4 $a Robotics. $3 519753
650 4 $a Vehicles. $3 2145288
650 4 $a Aerospace engineering. $3 1002622
650 4 $a Engineering. $3 586835
650 4 $a Transportation. $3 555912
690 $a 0389
690 $a 0771
690 $a 0538
690 $a 0537
690 $a 0709
710 2 $a Auburn University. $3 1020457
773 0 $t Masters Abstracts International $g 85-05.
790 $a 0012
791 $a M.S.
792 $a 2023
793 $a English
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30671959