Practical and Accurate Generation of Energy-Optimal Trajectories for a Planar Quadrotor
Fabio Morbidi Dominik Pisarski Fabio Morbidi Dominik Pisarski
Motivated by the limited flight time of batterypowered multi-rotor UAVs, in this paper we address the problem of generating energy-optimal trajectories for a planar quadrotor. More specifically, by considering an accurate electrical model for the brushless DC motors and rest-to-rest maneuvers between two predefined boundary states, we explicitly compute the minimum-energy curves by adopting a free...