Improving the Performance of INDI Flight Control for a Quadrotor in the Ceiling Effect

As the application areas of Unmanned Aerial Vehicles (UAVs) keep expanding, new flight areas are encountered more often. Small UAVs, named Micro Air Vehicles (MAVs), even fly in areas like sewage pipes. These areas introduce new difficulties such as aerodynamic effects caused by the ground and/or ceiling. In this paper two main contributions are...

Differential Dynamic Programming for Aerial Robots using an Aerodynamics Model

State of the art trajectory generation schemes for quadrotors assume a simple dynamic model. They neglect aerodynamic effects such as induced drag and blade flapping and assume that no wind is present. In order to overcome this limitation, this thesis investigates a trajectory optimization scheme based upon Differential Dynamic Programming (DDP)...