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Communication Dans Un Congrès Année : 2018

Quadcopter-performed cinematographic flight plans using minimum jerk trajectories and predictive camera control

Gauthier Rousseau
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Sihem Tebbani
Mathieu Babel
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Nicolas Martin
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Résumé

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.
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Dates et versions

hal-01768193 , version 1 (16-03-2020)

Identifiants

Citer

Gauthier Rousseau, Cristina Stoica Maniu, Sihem Tebbani, Mathieu Babel, Nicolas Martin. Quadcopter-performed cinematographic flight plans using minimum jerk trajectories and predictive camera control. 16th European Control Conference (ECC 2018), Jun 2018, Limassol, Cyprus. ⟨10.23919/ecc.2018.8550309⟩. ⟨hal-01768193⟩
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