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Reachable Set for a Drone
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Dissertation
Reachable Set for a Drone
2022
Overview
Quadcopters are increasingly popular for robotics applications. Being able to efficiently calculate the set of positions reachable by a quadcopter within a time budget enables collision avoidance and pursuit-evasion strategies.This research computes the set of positions reachable by a quadcopter within a specified time limit using a simplified 2D model for quadcopter dynamics. This popular model is used to determine the set of candidate optimal control sequences to build the full 3D reachable set at final time T in (x, z, θ) phase space or rotated to form the set in (x, y, z) Cartesian space. We calculate the analytic equations that exactly bound the set of positions reachable in a given time horizon for all initial conditions. We use these bounds to: escape a bounded region, avoid a collision, find the collision set, determine the closest point to the reachable set, reach a goal (x, z) in the reachable set, and for drone countermeasures.
Publisher
ProQuest Dissertations & Theses
Subject
ISBN
9798288873850
