Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs †

Aerospace

Jonathan Jamieson¹  James Biggs² 

[1] Mechanical and Aerospace Engineering, University of Strathclyde, 75 Montrose Street, Glasgow G1 lXJ, UK; E-Mail

关键词: UAV;    trajectory planning;    quadrotor;    obstacle avoidance;    sub-Riemannian curves;   

DOI  :  10.3390/aerospace2020155

来源: mdpi

【 摘 要 】

This paper presents a semi-analytical trajectory planning method for quadrotor UAVs. These trajectories are analytically defined, are constant in speed and sub-optimal with respect to a weighted quadratic cost function of the translational and angular velocities. A technique for concatenating the trajectories into multi-segment paths is demonstrated. These paths are smooth to the first derivative of the translational position and pass through defined waypoints. A method for detecting potential collisions by discretizing the path into a coarse mesh before using a numerical optimiser to determine the point of the path closest to the obstacle is presented. This hybrid method reduces the computation time when compared to discretizing the trajectory into a fine mesh and calculating the minimum distance. A tracking controller is defined and used to show that the paths are dynamically feasible and the typical magnitudes of the controller inputs required to fly them.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.