Model-free Online Motion Adaptation for Optimal Range and Endurance of Multicopters
- Creators
- Tagliabue, Andrea
- Wu, Xiangyu
- Mueller, Mark W.
Abstract
In this work we introduce an approach that allows a quadcopter to find the velocity which maximizes its flight time (endurance) or flight distance (range) while moving along a given path, using on-board power measurement. The proposed strategy is based on Extremum Seeking control and (a) does not require any model of the power consumption of the system, (b) can be executed on-line, and (c) guarantees adaptation to unknown disturbances. We show experimentally that hovering is not the most energy-efficient loitering strategy, and we demonstrate the proposed method's ability to adapt to different aerodynamic disturbances, such as payloads. The method may be especially useful in applications where a quadcopter carries an unknown payload, allowing it to adapt for improved range.
Additional Information
© 2019 IEEE. This work was carried out at the High Performance Robotics Lab, University of California, Berkeley. This work was supported by the Zeno Karl Schindler Foundation (ZKSF) Master Thesis Grant, Swiss Friends of the United States Association (SFUSA) Study Grant and the CHSR Corporation. Andrea Tagliabue thanks Raffaello D'Andrea for his support to the academic exchange. The experimental testbed at the HiPeRLab is the result of contributions of many people, a full list of which can be found at hiperlab.berkeley.edu/members/.Additional details
- Eprint ID
- 97927
- DOI
- 10.1109/ICRA.2019.8793708
- Resolver ID
- CaltechAUTHORS:20190815-133642751
- Zeno Karl Schindler Foundation
- Swiss Friends of the United States Association
- CHSR Corporation
- Created
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2019-08-15Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field