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Quadcopter-performed cinematographic flight plans using minimum jerk trajectories and predictive camera control

Abstract : This paper proposes a receding waypoint horizon strategy generating a piecewise polynomial trajectory with minimum jerk and predictive tracking of camera references for quadrotors, in the context of autonomous aerial single-sequence shots in a static environment. In order to deal with the limited on-board computation resources, the camera control is performed with an undersampled model predictive controller generating a set-point trajectory and a feedforward control signal, both used by a larger frequency controller. The performance of the overall strategy is illustrated with a real flight, on a Parrot Bebop 2 drone.
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https://hal.archives-ouvertes.fr/hal-01768193
Contributor : Cristina Stoica Maniu <>
Submitted on : Monday, March 16, 2020 - 11:31:15 AM
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  • HAL Id : hal-01768193, version 1

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Gauthier Rousseau, Cristina Stoica Maniu, Sihem Tebbani, Mathieu Babel, Nicolas Martin. Quadcopter-performed cinematographic flight plans using minimum jerk trajectories and predictive camera control. 16th European Control Conference (ECC 2018), Jun 2018, Limassol, Cyprus. ⟨hal-01768193⟩

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