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020 ▼a 9780438206687
035 ▼a (MiAaPQ)AAI10789302
035 ▼a (MiAaPQ)rpi:11284
040 ▼a MiAaPQ ▼c MiAaPQ ▼d 247004
0820 ▼a 621
1001 ▼a Hu, Botao.
24510 ▼a Time-optimal Trajectory Generation for Autonomous Landing.
260 ▼a [S.l.]: ▼b Rensselaer Polytechnic Institute., ▼c 2018.
260 1 ▼a Ann Arbor: ▼b ProQuest Dissertations & Theses, ▼c 2018.
300 ▼a 144 p.
500 ▼a Source: Dissertation Abstracts International, Volume: 79-12(E), Section: B.
500 ▼a Adviser: Sandipan Mishra.
5021 ▼a Thesis (Ph.D.)--Rensselaer Polytechnic Institute, 2018.
520 ▼a Unmanned Aerial Vehicles (UAVs) are finding widespread popularity in many applications and as a result, new research challenges and solutions are being discovered at a remarkable rate. One of the big barriers that prevent UAVs from wider deploym
520 ▼a We first present a general control architecture for time-optimal UAV landing onto a moving platform. The control architecture consists of a motion estimation module, a trajectory generation module and a tracking control module. The motion estima
520 ▼a Next, we extend this idea to a general time-optimal trajectory generation algorithm for landing a 6-DOF quadrotor model onto a translationally moving and rotating platform. This algorithm exploits the differential flatness of the quadrotor dynam
520 ▼a Finally, we propose and validate a mechanism for generating a time-optimal trajectory for maneuvering a quadrotor through a constrained and dynamically changing the environment. Though the algorithm developed has broader applicability and is gen
590 ▼a School code: 0185.
650 4 ▼a Mechanical engineering.
690 ▼a 0548
71020 ▼a Rensselaer Polytechnic Institute. ▼b Mechanical Engineering.
7730 ▼t Dissertation Abstracts International ▼g 79-12B(E).
773 ▼t Dissertation Abstract International
790 ▼a 0185
791 ▼a Ph.D.
792 ▼a 2018
793 ▼a English
85640 ▼u http://www.riss.kr/pdu/ddodLink.do?id=T14997501 ▼n KERIS ▼z 이 자료의 원문은 한국교육학술정보원에서 제공합니다.
980 ▼a 201812 ▼f 2019
990 ▼a ***1012033