This research focuses on improving the performance of quadrotor systems, particularly those used for payload delivery, which often experience aerodynamic wrenches. The study argues that instead of changing the controller, adapting the trajectory generation can significantly improve the system’s performance under aerodynamic drag forces. The researchers propose a ‘drag-aware’ planning problem and introduce a tracking cost function, which measures the controller’s ability to follow a reference trajectory. The results show that this approach can reduce tracking errors by as much as 83% and prevent controller saturation and catastrophic outcomes during aggressive maneuvers.
Publication date: 10 Jan 2024
Project Page: https://github.com/hanlizhang/AeroWrenchPlanner
Paper: https://arxiv.org/pdf/2401.04960
