Minimum-time optimal control for a quadcopter trajectory through gates with arbitrary pose

Drone racing has become popular in recent years, both in the manned and unmanned versions. However, currently manned races show more level of acrobatic behaviors through more challenging scenarios. Autonomous quadcopters are still limited to technological proprioceptive and exteroceptive challenges, as well as algorithmic limitations. This paper proposes an approach for unmanned quadcopters to maneuver through gates with arbitrary poses solving a minimum-time optimal control problem. The results show, in a dynamic simulator, that the quad copter is able to successfully circumvent the nuances of the environment passing through the gates in minimum time satisfying the motion constraints and planning the motion ahead.