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- W4313307623 abstract "This paper details a method of improving the accuracy with which a multi-rotor unmanned aerial system (UAS) can maintain a trajectory en route to pre-designated waypoints. Although most multi-rotor UAS's are nearly holonomic, variables in flight conditions such as wind speed and elevation changes make maintaining a set trajectory difficult. Here a quadcopter is used, and intermediate waypoints generated using Dubins vehicle kinematics are injected into the quadcopter's flight controller pre-flight. This allows the quad copter to utilize its existing flight controller in a more efficient way, resulting in a flight trajectory that is more resilient to variations in flight controller parameters and changes to environmental influences like wind. Additionally, treating a multi-rotor UAS as a Dubins vehicle allows for a trajectory that passes through waypoints at speed and in a non-linear fashion, decreasing risk to the vehicle from ground forces." @default.
- W4313307623 created "2023-01-06" @default.
- W4313307623 creator A5016698414 @default.
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- W4313307623 date "2022-11-16" @default.
- W4313307623 modified "2023-09-27" @default.
- W4313307623 title "Improving UAS Route Efficiency with Feed-forward Waypoint Augmentation" @default.
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- W4313307623 doi "https://doi.org/10.1109/iceccme55909.2022.9988484" @default.
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