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1. 发明申请

WO2014018147A3 THREE-DIMENSIONAL MANIPULATION OF TEAMS OF QUADROTORS 审中-公开
标题翻译：四方的三维操纵
公开(公告)号：WO2014018147A3
公开(公告)日：2014-03-20
申请号：PCT/US2013038769
申请日：2013-04-30
申请人： UNIV PENNSYLVANIA , KUMAR VIJAY , KUSHLEYEV ALEKSANDR , MELLINGER DANIEL
发明人： KUMAR VIJAY , KUSHLEYEV ALEKSANDR , MELLINGER DANIEL
IPC分类号： G05D1/10
CPC分类号： G05D1/104 , B64C39/024 , B64C2201/14 , G08G5/04
摘要： A system and method is described for controlling flight trajectories of at least two flying vehicles towards goal positions. The system includes at least two flying vehicles with onboard inertial measurement units for determining and updating orientation, angular velocities, position and linear velocities of the at least two flying vehicles, a motion capture system to detect current position and velocity of each of the at least two flying vehicles, and a base controller in communication with the motion capture system and in communication with the plurality of flying vehicles. The base controller calculates for each of the flying vehicles, at predetermined intervals of time, optimum trajectory paths using piece-wise smooth polynomial functions, applying weighting factors, and enforcing overlap constraints.
摘要翻译：描述了用于控制至少两个飞行车辆朝向目标位置的飞行轨迹的系统和方法。该系统包括至少两个飞行车辆，其具有用于确定和更新至少两个飞行车辆的定向，角速度，位置和线速度的船载惯性测量单元，用于检测至少两个飞行器中的每一个的当前位置和速度的运动捕捉系统两个飞行车辆，以及与运动捕捉系统通信并与多个飞行车辆通信的基地控制器。基本控制器以预定的时间间隔计算每个飞行车辆，使用分段平滑多项式函数的最佳轨迹路径，应用加权因子以及执行重叠约束。

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