Two-Step Online Trajectory Planning of a Quadcopter in Indoor Environments with Obstacles

Martin Zimmermann; Minh Nhat Vu; Florian Beck; Anh Nguyen; Andreas Kugi

doi:10.1016/j.ifacol.2023.10.799

Two-Step Online Trajectory Planning of a Quadcopter in Indoor Environments with Obstacles

Martin Zimmermann, Minh Nhat Vu, Florian Beck, Anh Nguyen, Andreas Kugi

Complex Dynamical Systems

Research output: Chapter in Book or Conference Proceedings › Conference Proceedings with Oral Presentation › peer-review

Original language	English
Title of host publication	Proceedings of the 22nd IFAC World Congress
Pages	11002–11009
Volume	56
Edition	2
DOIs	https://doi.org/10.1016/j.ifacol.2023.10.799
Publication status	Published - Jul 2023
Event	22nd IFAC World Congress - Yokohama, Japan Duration: 9 Jul 2023 → 14 Jul 2023

Publication series

Name	IFAC-PapersOnline
Publisher	IFAC Secretariat
ISSN (Print)	2405-8963

Conference

Conference	22nd IFAC World Congress
Country/Territory	Japan
City	Yokohama
Period	9/07/23 → 14/07/23

Research Field

Complex Dynamical Systems

Keywords

quadcopter
motion planning
optimal rapidly exploring random tree (RRT*)
constrained quadratic programming
differential flatness
trajectory planning

Access to Document

10.1016/j.ifacol.2023.10.799Licence: CC BY-NC-ND

Cite this

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title = "Two-Step Online Trajectory Planning of a Quadcopter in Indoor Environments with Obstacles",

keywords = "quadcopter, motion planning, optimal rapidly exploring random tree (RRT*), constrained quadratic programming, differential flatness, trajectory planning",

author = "Martin Zimmermann and Vu, {Minh Nhat} and Florian Beck and Anh Nguyen and Andreas Kugi",

year = "2023",

month = jul,

doi = "10.1016/j.ifacol.2023.10.799",

language = "English",

volume = "56",

series = "IFAC-PapersOnline",

publisher = "IFAC Secretariat",

pages = "11002–11009",

booktitle = "Proceedings of the 22nd IFAC World Congress",

edition = "2",

note = "22nd IFAC World Congress ; Conference date: 09-07-2023 Through 14-07-2023",

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Two-Step Online Trajectory Planning of a Quadcopter in Indoor Environments with Obstacles. / Zimmermann, Martin; Vu, Minh Nhat; Beck, Florian et al.
Proceedings of the 22nd IFAC World Congress. Vol. 56 2. ed. 2023. p. 11002–11009 (IFAC-PapersOnline).

Research output: Chapter in Book or Conference Proceedings › Conference Proceedings with Oral Presentation › peer-review

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AU - Beck, Florian

AU - Nguyen, Anh

AU - Kugi, Andreas

PY - 2023/7

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KW - differential flatness

KW - trajectory planning

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DO - 10.1016/j.ifacol.2023.10.799

M3 - Conference Proceedings with Oral Presentation

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BT - Proceedings of the 22nd IFAC World Congress

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