A Novel Dual Quaternion Based Dynamic Motion Primitives for Acrobatic Flight
Abstract
The realization of motion description is a challenging work for fixed-wing Unmanned Aerial Vehicle (UAV) acrobatic flight, due to the inherent coupling problem in ranslational-rotational motion. This paper aims to develop a novel maneuver description method through the idea of imitation learning, and there are two main contributions of our work: 1) A dual quaternion based dynamic motion primitives (DQ-DMP) is proposed and the state equations of the position and attitude can be combined without loss of accuracy. 2) An online hardware-inthe-loop (HITL) training system is established. Based on the DQDMP method, the geometric features of the demonstrated maneuver can be obtained in real-time, and the stability of the DQ-DMP is theoretically proved. The simulation results illustrate the superiority of the proposed method compared to the traditional position/attitude decoupling method.
Cite
@article{arxiv.2107.06116,
title = {A Novel Dual Quaternion Based Dynamic Motion Primitives for Acrobatic Flight},
author = {Renshan Zhang and Yongyang Hu and Kuang Zhao and Su Cao},
journal= {arXiv preprint arXiv:2107.06116},
year = {2021}
}
Comments
6 pages