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Model-free Online Motion Adaptation for Optimal Range and Endurance of Multicopters

Tagliabue, Andrea and Wu, Xiangyu and Mueller, Mark W. (2019) Model-free Online Motion Adaptation for Optimal Range and Endurance of Multicopters. In: 2019 International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 5650-5656. ISBN 978-1-5386-6027-0. https://resolver.caltech.edu/CaltechAUTHORS:20190815-133642751

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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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2019.8793708DOIArticle
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/.
Funders:
Funding AgencyGrant Number
Zeno Karl Schindler FoundationUNSPECIFIED
Swiss Friends of the United States AssociationUNSPECIFIED
CHSR CorporationUNSPECIFIED
Record Number:CaltechAUTHORS:20190815-133642751
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190815-133642751
Official Citation:A. Tagliabue, X. Wu and M. W. Mueller, "Model-free Online Motion Adaptation for Optimal Range and Endurance of Multicopters," 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019, pp. 5650-5656. doi: 10.1109/ICRA.2019.8793708
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:97927
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:15 Aug 2019 20:45
Last Modified:03 Oct 2019 21:36

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