3D trajectory tracking for a quadcopter using MPC on a 3D terrain
Rahul Singhal, P. B. Sujit · 2015
This paper presents a method to generate and follow a smallest weighted path in 3D by quadcopter. A smallest weighted path is obtained using Dijkstra's algorithm based on terrain information. To follow the generated path we use a Model predictive control that takes constraints on jerks, position and angular acceleration on the quadcopter. Simulation results are presented to validate our approach.