High-Speed Planning in Unknown Environments for Multirotors Considering Drag
Charbel Toumieh Alain Lambert Charbel Toumieh Alain Lambert
In this paper, we propose a new planning scheme for high-speed flight in an unknown environment while taking into account drag forces. Drag forces become non-negligible at high speeds and may lead to unfeasible trajectories. The method leverages a new Mixed-Integer Quadratic Program/Model Predictive Control formulation that allows to easily account for drag forces. This formulation makes use of a ...